Crowds gathered in the central square of Castel Gandolfo in Italy yesterday to catch a glimpse of history: two popes meeting for lunch and presumably discussing the future of the Catholic Church.

Pope Francis flew by helicopter to the papal residence in the Alban Hills south of Rome where Pope Emeritus Benedict XVI has been living since resigning on February 28, when he became the first pope to step down in 600 years.

Benedict's dramatic departure that day – flying by helicopter with his weeping secretary by his side and circling St Peter's Square in a final goodbye – is one of the most evocative images of this remarkable papal transition.

There is no public record of any previous meeting between a pope and a former pope, as the new head of the Catholic Church is usually elected after the death of his predecessor.

In 1294, former hermit Celestine V resigned after five months as pope. Boniface VIII was elected days later, and had his predecessor imprisoned. Celestine was dead within a year.

In contrast, Pope Francis has spoken warmly of his predecessor. One of his first acts as pope was to call Benedict at Castel Gandolfo, where the former pontiff had been following proceedings on television.

Pope Francis will today begin the Church's most important liturgical season with a Palm Sunday Mass in St Peter's Square. He will then lead six more liturgies during the week, culminating with the Easter Sunday Mass and Urbi et Orbi blessing.

The new pope has called for the Roman Catholic Church to be closer to ordinary people, especially the poor and disadvantaged. Less than a fortnight into his pontificate, he has already made some subtle changes in the lifestyle of the leader, including simple dress.

Yesterday, the Vatican was keen to downplay the luncheon, in keeping with Benedict's desire to remain "hidden from the world".