In his speech, the president stressed progressive ideals and poked fun at Republicans who are seeking his job.
President Obama and Wisconsin Gov. Scott Walker greet each other cordially during Obama visit -- despite harsher back-and-forth in statements.
Surrounded by supporters, the president said he was optimistic about the future of health care.
The president formally announces plans to reopen embassies in each capital later this month.
The agreement could pave the way for Obama to visit the island nation before the end of his presidency.
The plan could cover nearly 5 million workers, the White House says.
The Monday afternoon visit marked the second time that Obama has taken a world leader to the civil rights memorial.
His shift comes at a time of big social changes and as years of gridlock have taken a toll on voters.
The president delivered a rousing eulogy for the Rev. Clementa Pinckney, who was killed with eight others at a historic church.
Obama is comfortable with rowdy crowds. But not this time. Not when he is in the White House.