After their tour concluded, the First Lady and Mrs. Trump walked over to the Oval Office, and the two couples visited again before they departed.
While their husbands were getting acquainted, First Lady Michelle Obama also had a sit-down at the White House with her soon-to-be successor, Melania Trump.
The relaxed, cordial demeanour between Obama and Trump in front of the cameras was in stark contrast to the months of harsh rhetoric that came from both during a bitter election campaign.
"This was a meeting that was going to last for maybe 10 or 15 minutes, and we were just going to get to know each other".
Throughout Obama's presidency, Trump persistently sought to undermine the legitimacy of the nation's first African-American presidency by questioning his citizenship and his Christian faith.
The meeting lasted for nearly an hour-and-a-half.
Trump traveled to Washington from NY on his private jet, breaking with protocol by not bringing journalists in his motorcade or on his plane to document his historic visit to the White House.
Others mostly quoted Trump in their headlines, showing how he had a lot to learn from Obama and their 90-minute meeting.
"I have instructed my team to follow the example that President [George W.] Bush's team set eight years ago and work as hard as we can to make sure that this is a successful transition for the president-elect", Obama told reporters in the Rose Garden on Wednesday.
Trump - noting that the meeting ran long - said: "Mr. President, it was a great honor being with you, and I look forward to being with you many, many more times in the future". Vice President-elect Mike Pence met Vice President Joe Biden.
White House spokesman Josh Earnest said Obama would brief Trump about the benefits of those policies during their meeting.
Trump, meantime, said that he has "great respect" for Obama and spoke positively about the meeting.
Trump and Obama weren't the only two meeting on Thursday.
"Well, I just had the opportunity to have an excellent conversation with President-elect Trump", Obama said.
Republican Chris Christie, who is leading Trump's transition team, told NBC's "Today" program, "We heard a lot about the peaceful transfer of power during this election, and I think you'll see that symbolized today".
REP. PAUL RYAN, Speaker of the House: We're going to turn that victory into progress for the American people.
Meanwhile, Trump for years questioned whether Obama was born in the US before recently acknowledging his citizenship.
Earnest said first lady Michelle Obama showed future first lady Melania Trump the private quarters, and they had tea. A person familiar with the transition operations said the personnel process was still in its early stages, but Trump's team was putting a premium on quickly filling key national security posts. "And one thing you realize quickly in this job is that the presidency, and the vice presidency, is bigger than any of us".
Protesters railed against Trump's campaign pledge to build a wall along the border with Mexico to keep immigrants from entering the United States illegally.
Kushner is also a New York City real estate developer.