In a farewell ceremony on Friday, Gauck was given the highest military honors in front of a crowd of 600 guests in capital city Berlin.
He had turned down a second five-year term as president, citing his age and waning energy.
Joachim Gauck’s term in office as president, however, will officially end on Saturday.
And Steinmeier, who was elected in mid-February by a large majority of the special federal assembly, will officially take over as German head of state on Sunday.
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