Lady Gaga campaigned for Mr Biden during the election, appearing with him on the eve of the presidential election last November.
She will sing the national anthem at the ceremony on 20 January. Lopez, who also endorsed Mr Biden last year, will give a separate musical performance.
After the ceremony, Tom Hanks will host a star-studded televised special.
Titled Celebrating America, the 90-minute prime-time programme will also feature US musicians Jon Bon Jovi, Demi Lovato, Justin Timberlake and Ant Clemons, and will be broadcast live by ABC, CBS, CNN, NBC and MSNBC.