He ended his message with: "Let's always be close in prayer."
Sunday's Angelus will not be Benedict's final public appearance, as he is scheduled to hold a general audience Wednesday, according to the Vatican.
He will hold a "meet and greet" with cardinals late Thursday morning before stepping down the same evening, the Vatican website said.
Benedict was dean of the College of Cardinals in 2005 when he became the sixth German to be picked as pope, albeit the first since the 11th century.
At the time, the church was facing several pressing issues, including a growing crisis over the church's role in handling molestation accusations against priests around the world.
The pontiff will leave office at 8 p.m. on February 28, two-and-a-half weeks after he shocked the Roman Catholic world by announcing his resignation.
The Vatican has said a new pope will be in place for the church's Easter celebrations on March 31.
Benedict will begin his retirement in the papal summer residence in Castel Gandolfo before he withdraws to a monastery being built for him in Vatican City, a Vatican spokesman has said.
He will then lead a cloistered life, the spokesman said.
Comments
The views expressed are not those of this company or its affiliated companies. Please note by clicking on "Post" you acknowledge that you have read the Terms of Service and the comment you are posting is in compliance with such terms.