Obama's choice of Warren earlier this week sparked outcry from gay rights and other liberal groups, who said choosing such an outspoken opponent of gay marriage was tantamount to endorsing bigotry.
"Three years ago I took enormous heat for inviting Barack Obama to my church because some of his views don't agree (with mine)," he said. "Now he's invited me."
Warren said he prays for the same things for Obama that he prays for himself: integrity, humility and generosity.
Obama defended his choice on Thursday, saying that he has also invited Joseph Lowery, a Methodist minister and civil rights leader who supports same-sex marriage and gay rights, to deliver the benediction.
"During the course of the entire inaugural festivities, there are going to be a wide range of viewpoints that are presented. And that's how it should be, because that's what America's about. That's part of the magic of this country ... we are diverse and noisy and opinionated," Obama said.
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