Livio Bastianelli and Davide Maria Bianchi, both 11, were visiting the Vatican from Perugia with their classmates on Wednesday.
After the group presented him with a t-shirt from their school, the pope jokingly asked if anyone would like a ride. Bastianelli and Bianchi were the lucky two chosen to hop aboard.
Pope Francis washed the feet of 12 people with disabilities on Holy Thursday, to commemorate Jesus washing the feet of his 12 disciples before the Last Supper.
The Associated Press contributed to this report.