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Virginia Gov. Robert F. McDonnell and Washington Mayor Vincent C. Gray attended the inauguration.

Mr. McDonnell, a Republican, said the two governors of neighboring states “are very friendly with one another.”

“I think he’s a very smart guy on everything from being forward looking on job creation to his own personal dashboard to measure the success of Maryland government,” Mr. McDonnell said.

Before Mr. O'Malley gave his inaugural speech, he was sworn in by Maryland Court of Appeals Chief Judge Robert Bell during a brief ceremony inside the Maryland Senate, along with Lt. Gov. Anthony Brown.