At the family synod, bishops agreed homosexuals had "gifts and qualities to offer the Christian community".
"Are we capable of welcoming these people, guaranteeing to them a fraternal space in our communities?" they said.
The statement was made in a preliminary report around halfway through the meeting at the Vatican.
The clerics did not challenge the Church's position on gay marriage.
"Without denying the moral problems connected to homosexual unions, it has to be noted that there are cases in which mutual aid to the point of sacrifice constitutes a precious support in the life of the partners," the statement said.
Monsignor Bruno Forte, special secretary of the General Assembly of the Synod of the Bishops, spoke at a news conference on Monday.
He said: "We must respect the dignity of every person and the fact that to be homosexual doesn't mean that this dignity must be not recognised and promoted.
"So the fundamental idea is the centrality of the person, independently from different sexual orientation.
"And I think it is the most important point, and also the attitude of the Church to welcome persons who have homosexual orientation, based on the dignity of the person they are."
Earlier this year when questioned about his view on gay people, Pope Francis replied "Who am I to judge?"
Premier's Marcus Jones has spoken to Peter Williams from the group Catholic Voices: