"It was really, really extraordinary," said Muir.
Pope Francis says to the people of the United States, "I pray for you all... and I ask you please pray for me." pic.twitter.com/emFkoKgYse— 20/20 (@ABC2020) September 5, 2015
Extraordinary and unprecedented. Muir has a front row seat to history, moderating a first-ever virtual papal audience from the Vatican.
Pope Francis connected with American Catholics in Los Angeles, Chicago, and Texas. They're cities not on his U.S. trip itinerary, yet cities he cares about.
Muir says he saw firsthand the degree to which Francis goes to ensure no one is neglected.
"Before we even sat down in the chairs to connect him with everyday Americans, he turned to everyone in the room, walked up to them, shook their hands, blessed them, and at one moment he realizes there is one more camera guy around the corner behind the camera. And he walked around the camera to shake his hand as well," Muir said.
VIDEO: Pope Francis holds first-ever virtual papal audience
David recalls one particularly poignant moment during Francis' interactions with the American faithful when a Chicago high schooler told the pontiff about the bullying she's endured because of her skin condition.
"We were all so incredibly moved that the pope not only spoke English, but gave this little girl hope after all the bullying she's endured," he said.
Muir says you'll see other breathtaking moments during Friday night's special.
"Wait 'til you see the messages he has for single moms here in America, for teenagers who thought they had no future, for a nun sitting quietly in a pew in a church, she had no idea what the pope was about to do for her."
Another stunning moment, another life forever changed.
Pope Francis held a virtual visit with Americans this week. The event was moderated by World News Tonight's David Muir. The event will air in a one-hour special edition of ABC News' "20/20" on Friday, Sept. 4 at 10 p.m. PST.
ABC7 News Anchor Ama Daetz will travel to Washington DC to bring us coverage of the pope's visit to the United States. The pontiff will canonize Father Junpero Serra on Sept. 23 in Washington. Father Serra established California's missions.