Madden tells 6abc Action News he was at the papal parade Saturday on the Ben Franklin Parkway with his wife Dana and baby daughter Quinn -- who just so happened to be dressed like the pope.
As Pope Francis rounded a corner in his Popemobile, he chuckled when he saw 4-month-old Quinn.
Soon Quinn was handed off to Pope Francis' security.
The Pontiff then kissed Quinn and whispered to one of his security guards.
As Quinn was handed back to her parents, the guard relayed the pope's message.
"He told his security guard to tell us that we have a great sense of humor," Madden said.
Click here to watch the video on Facebook
Quinn's mother, Dana, tells us, "We couldn't believe we were able to make him laugh. What an amazing experience."
Diane Zeltner and Rosanne Cozza snapped a picture of Quinn and shared it on the Action News Facebook page.
Rosanne explains, "We just said, your baby is really cute. And she's like, 'Oh my God, the pope just had my baby.' And it was just the right moment. It was amazing."
Both the video and the photo have since gone viral online!