The children were part of a special Cross Station ceremony and came from foster homes, a group of scouts and a local Catholic church.
Francis annually chooses a group of people to write and read prayers for the service.
The children formed the 2021 group and also produced some drawings for the event.
The images and prayers represent the 14 “stations” or events that lead to the death of Jesus, which is commemorated on Good Friday.
The choir of the Sistine Chapel also participated and sang “Crux Fidelis”, a Gregorian chant.
Traditionally, crowds gather in St. Peter’s Square for Good Friday and Easter, but due to coronavirus restrictions, the area was largely empty, with only the Pope, some guests and children present.
This is the second Easter in which restrictions on social distance have limited the number of worshipers in Rome.
The pope was also seen prostrating on the floor of St. Peter’s Basilica during Friday service.
He will hold an Easter Sunday Mass at the Vatican on April 4, followed by a papal blessing.
Delia Gallagher reported from Rome. Zamira Rahim wrote in London.