The US Secret Service confirmed the incident but said it was resolved once it was determined that the driver was in "lawful possession" of the weapon.
"At no time was any Secret Service protectee in danger or impacted," it said in a statement.
US President Donald Trump is spending the weekend at his Mar-a-Lago estate, although reporters have not seen him since Friday when he visited injured victims of the mass shooting at a Parkland, Florida high school.
A security check in a parking lot across the street from Mar-a-Lago turned up a gun in the driver's baggage, according to a White House pool report.
The driver said he had forgotten to leave the weapon in his car, the report said.
He was then replaced by a White House staffer, who drove the press van when it joined Trump's motorcade about an hour later on the ride to the Trump International Golf Club, the report said.
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