Pope's NY Mass: Gloria Estefan Sings, Immigrants Made Papal Chair

Breaking News Emails

Get breaking news alerts and special reports. The news and stories that matter, delivered weekday mornings.

Pope Francis held mass in New York City's iconic Madison Square Garden, addressing about 20,000 and reminding them that "God is in the City."

The first Latin American pope has made the plight of immigrants a central part of his Christian message, and he did so Friday night.

"In big cities, beneath the roar of traffic, beneath the rapid pace of change, so many faces pass by unnoticed because they have no right to be there, no right to be part of the city," Francis said.

RELATED: El Papa Pone Punto Final Con Misa en Madison Square Garden

"They are the foreigners, their children who go without school, those deprived medical insurance, the homeless, the forgotten elderly. These people stand at the edge of our avenues and our streets in deafening anonymity. They become part of an urban landscape that is more and more taken for granted in our eyes, and especially in our hearts."

RELATED: Gloria Estefan, Jennifer Hudson Perform for Pope Francis

But there is hope, said the Pontiff.

"Knowing that Jesus still walks our streets, that he is vitally a part of the lives of his people, that he is involved with us in a vast history of salvation, fills us with hope, a hope which liberates us from the forces pushing use toward isolation and lack of concern for the lives of others, for the life of our city," Francis said.

Pope Francis sat in a simple wooden chair that was built and carved by Latino immigrants, and the altar clothes were sewn and embroidered by Hispanic workers. Singer Gloria Estefan sang "Mas Allá."

Follow NBC News Latino on Facebook and Twitter.