The custom made vehicle has been valued at $30,000 by the Max Spann Real Estate and Auction Company although President Max Spann told AFP it could fetch a much higher price.
"I think there's going to be tremendous interest," he said. "Being that it was used by the pope, there are intangibles. So it's really hard to predict."
Buyers are being invited to bid in person or online with all proceeds going to charities run by the Catholic Church in the area.
The car will go on sale on 29 January at the Philadelphia Auto Show.
It's understood similar vehicles used on the Washington leg of the trip could go to auction at a later date.
Meanwhile the Pope is being credited with a jump in sales of Fiats.
According to Fiat Chrysler Automobiles sales were up 35% in December from the previous month.