The president and first lady were briefly evacuated from their Delaware vacation home Saturday after a small private airplane entered restricted airspace.
The White House said there was no danger to Biden or his family. Biden and his wife returned to their home.
The plane was escorted from the airspace after it entered a secured area. According to a preliminary investigation, the pilot was not following published flight guidance and was not on the correct radio channel.
The FAA published flight restrictions earlier this week before Biden's beach town visit. There is a no-fly zone of 10 miles and a restricted zone of 30 miles.
A CBS News reporter said he saw Biden go to the fire station. A group of reporters that travel with the president were not in the motorcade.
Federal regulations require pilots to check their route before leaving. There are often airspace breeches around temporary restricted zones.
Military jets and Coast Guard choppers are often used to intercept planes that violate the flight restrictions around the president. Aircrews are interviewed by law enforcement when their planes are diverted to a nearby airfield.