Ad Limina Apostolorum, which means to the threshold of the apostles, refers to the demand that each bishop in the world visit Rome every five years to take the time to venerate the tombs of the apostles Peter and Paul and for them to meet the Pope in a papal audience.
This tradition dates back to Saint Paul. It is directly derived from Saint Paul's Epistle to the Galatians.
"Then after three years I went up to Jerusalem to see Peter, and abode with him fifteen days."
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