The first Inaugural prayer was offered for FDR. This is from 1937. It was delivered by ZeBarney Phillips who was an Episcopal clergyman and Chaplain of the U.S. Senate:
Almighty God and Heavenly Father, ruler and guardian of the world: Sanctify to the nation the meaning of this hour that Thy people with one heart and mind may acknowledge their fealty to Thee.
Be with the President and the Vice President, as under Thee they renew their solemn pledges of devotion to their country’s weal in the high and holy offices to which again they have been called; let the blessings of Thy bounteous goodness be upon them, upon the Congress, upon the Judiciary and upon all who bear rule in our land.
In particular, we beseech Thee for our President that, casting all his care upon Thee, he may feel underneath Thine everlasting arms. Touch Thou his lips that he may speak, in the words of the unshorn truth and never-wearying kindness, the message for the healing of the nations, and hasten the day when men shall rise above all lesser things to those glorious heights where love shall weave a holy bond of peace enduring till earth’s shadows vanish in the light of light. Amen.