At one point, the 52-second-long video reveals Harris, First Lady Jill Biden, Second Gentleman Doug Emhoff, Jackson, and members of Jackson's family collected around Biden in the oval office without face masks before the ceremony moved outside into the Rose Garden.
The video further reveals Harris and Jackson beaming and walking alongside one another, within six feet, along with Harris', Biden's and Jackson's words onstage.
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"Yesterday, we witnessed a truly historic moment," Biden captioned the video.
On Friday, Psaki upheld Vice President Kamala Harris for not wearing a mask throughout the event and specifically told Fox News' Peter Doocy that she was wearing a mask indoors before the ceremony.
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"The Vice President has been wearing a mask inside. When there was a private greet, they were all wearing masks before they went up [to the stage]," Psaki said.
She doubled down when Doocy pressed her further, stating that "the Vice President wore a mask inside, when she was with the President, with her staff, with other people" on Friday before she took the stage.
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Harris was regarded as a close contact with COVID after her communications director, Jamal Simmons, tested positive.
CDC guidelines say those individuals who are exposed though are vaccinated and boosted - as Harris is - should "wear a mask for 10 days after the exposure."
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Harris was not wearing one when she walked out of the White House with Jackson and President Joe Biden nor did she put one on throughout the event.
"She was outside," Psaki stated. "You can benefit significantly from being outside. That's why we had the event outside today."
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CDC guidelines do not distinguish between being indoors or outdoors.
Psaki further announced Harris was "socially distanced for the vast majority of the event today."
When a reporter questioned her about Harris standing on stage with President Biden, Psaki replied: "Six feet away."
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Harris did hug Jackson at the event, though Psaki declared it "understandable," and that the Vice President "was socially distanced for 99.9% of the event today, and she had an emotional moment."
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Simmons announced his positive COVID diagnosis on Wednesday. The vice president's office, in the announcement, announced Harris was deemed a close contact and would consult with her doctors.
Simmons was at a Tuesday event at the White House marking the one-year anniversary of the Affordable Healthcare Act, where he hugged former President Barack Obama.