"I hope to work with the new president to strengthen bilateral ties. I extend my best wishes to Bapak Jokowi on his election," Najib was quoted as saying in the report.
Jusuf Kalla also took his oath of office, as the vice-president, before the 1,000 members of the assembly.
Najib, who had a personal invitation from Jokowi, 53, to attend the inauguration, was accompanied by his wife Datin Seri Rosmah Mansor at the ceremony.
Eighteen foreign dignitaries and nine heads of government attended the ceremony, which lasted about two hours.
Najib was accorded the honour of being the first of the foreign heads of government to arrive at the Istana Merdeka, official residence of the president, to call on Jokowi and convey his congratulations. - Bernama