In his weekly general audience the pontiff said divorced and re-married Catholics had to be reached out to.
"Though their unions are contrary to the Sacrament of marriage, the Church, as a Mother, seeks the good and salvation of all her children," he said.
"As these situations especially affect children, we are aware of a greater urgency to foster a true welcome for these families in our communities.
"For how can we encourage these parents to raise their children in the Christian life, to give them an example of Christian faith, if we keep them at arm's length?"
He added that there was "no easy solution" to the issue that has been subject to much debate in the Church.
Currently divorced and remarried Catholics are living in sin and cannot take Holy Communion, under doctrine.
"We can and must always encourage these families to participate in the Church's life, through prayer, listening to the Word of God, the Christian education of their children, and service to the poor.
"As the Good Shepherd gives his life for the sheep, so the Church as a Mother gives her life for all her children, by being always the 'house of the Father, with doors wide open'.
"May everyone, especially Christian families, imitate the Good Shepherd, who knows all his sheep and excludes no one from his infinite love."