Waltzing into history... Obama and the First Lady in ruby chiffon

After an inauguration ceremony watched by a crowd of 700,000, Barack Obama celebrated being sworn in for a second term as US President with two star-studded balls in Washington.

He held his wife Michelle close as they danced in front of thousands of cheering guests at the Walter E Washington convention centre, as Jennifer Hudson sang Al Green’s Let’s Stay Together.

Paying tribute to Michelle — who was dressed in a red chiffon and velvet gown by Jason Wu — Mr Obama said that although he faced criticism as the President, “nobody disputes the quality of the First Lady”.

He added: “I’ve got a date with me here. She inspires me every day. She makes me a better man and a better president. The fact that she is so devoted to taking care of our troops and military families is just one more sign of her extraordinary love and grace and strength. I’m just lucky to have her.”

The couple attended the Commander-in-Chief’s Ball for the armed forces, which featured entertainment by Alicia Keys, Marc Anthony, Jamie Foxx, country star Brad Paisley, and Chris Cornell of rock band Soundgarden.

They then moved next door for the Inaugural Ball, which saw performances by Keys, Paisley, the Glee cast, John Legend, Katy Perry, Smokey Robinson, Stevie Wonder and Usher. Keys changed her hit Girl On Fire to sing: “He’s the President and he’s on fire... Obama’s on fire. Obama’s on fire.”

The Obamas danced at both balls as Hudson sang. Earlier in the day, Beyoncé almost stole the show when she took her place with husband Jay-Z at the Capitol to watch Mr Obama take the oath of office. She sang the national anthem, with James Taylor performing America The Beautiful, and Kelly Clarkson giving a rendition of My Country ’Tis Of Thee.

Mr Obama, the 44th US President, was sworn in by Chief Justice John Roberts. Former presidents Bill Clinton and Jimmy Carter joined senators, congressional leaders and dignitaries at the ceremony.

In his speech he called for political unity, and highlighted issues including immigration reform, climate change, and gay rights — the first president to address this issue in his inauguration. He said: “Our individual freedoms require collective action.

"We do not believe that in this country, freedom is reserved for the lucky, or happiness for the few. We must act together, as one nation and one people. Our journey is not complete until our gay brothers and sisters are treated like anyone else under the law.”