Mr Biden joins a growing number of political leaders getting the jab, including Vice-President Mike Pence and House Speaker Nancy Pelosi.
On Sunday, the roll-out began for a second vaccine, by Moderna, which was approved last week.
More than 500,000 Americans are said to have now been vaccinated.
"I'm doing this to demonstrate that people should be prepared when it's available to take the vaccine," Mr Biden said from Newark, Delaware, where he got the jab live on TV. "There's nothing to worry about."