More than a million Catholic faithful flocked to Rio de Janeiro's Copacabana beach today to be part of a final Mass given by Pope Francis on the last day of his week-long trip to Brazil centred on World Youth Day.

Thousands, including about 100 Maltese young people, camped on the beach and adjacent pavement to reserve their positions for the morning mass presided by the Argentine pontiff.

A sea of "pilgrims" woke with the sun and waited to see the Pope on the final day of his first trip abroad since ascending to the papacy in March.

Once again the smiling Pope was greeted by throngs of adoring followers after he took a short helicopter ride to the famed beach.

After landing at the Copacabana Fort he rode his open-sided popemoblie past thousands of waving and screaming supporters, stopping frequently to kiss babies and shake hands with people in the crowd.

One man was overcome with emotion when the Argentine Pope paused to embrace him.

At one point the Pope accepted a mate tea drink, traditional to his native Argentina, drinking the hot beverage from the typical straw as it was handed up to him from the line-up of well-wishers

On hand for the Pope's final mass was Brazilian President Dilma Rousseff, who was joined by Argentine President Cristina Fernandez and Bolivian President Evo Morales.

As the Pope made his way to the massive stage set up on the coast, performers began the spectacle with song and dance and re-enactments.

Since arriving in Brazil last Monday, the Pope has delivered a message of solidarity to combat poverty, touted intergenerational exchanges and pushed young people to be "protagonists of change".

He also encouraged Brazil's youth, who have protested against corruption in their country, to continue their efforts to change society by fighting apathy and offering "a Christian response".