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"Love makes us patient. So many times we lose patience, even me, and I apologize for yesterday's bad example," he said.
"Every form of violence inflicted upon a woman is a blasphemy against God, who was born of a woman."
Video showed Pope Francis become visibly upset during Tuesday's incident, in which he slapped the woman's hand in an attempt to extricate himself after she grabbed him and yanked him toward her.
Prior to the incident, the woman had made the sign of the cross. She addressed the 83-year-old Pope as she took his hand but it is unclear what she was trying to tell him.
During his address on Wednesday, the Pontiff also spoke about gender equality, telling the congregation that women "should be fully included in decision-making processes."
"Every step forward for women, is a step forward for humanity as a whole."
This story has been updated to more directly reflect Pope Francis' apology and content of his address.