Addressing more than 65,000 young people in Martyrs Stadium, Francis spoke of forgiveness and reconciliation, themes that have dominated his visit to the country where armed conflict has killed and displaced millions of people over the past decades.
Addressing the stadium, the pope urged the crowd to build a better future for the church and their country.
"You are part of a greater history, one that calls you to take an active role as a builder of communion, a champion of fraternity, an indomitable dreamer of a more united world," he said.
"Never give in to the persuasive but poisonous temptations of corruption," he said in Italian, which was translated into the DRC's official language French.
The pope also asked the crowd to chant 'no to corruption' after him.
The speech was interrupted so often by applause and cheers that at one point an organizer took a microphone and shouted "let the pope speak" before he could continue.
"Beware of the temptation to point a finger at someone, to exclude another person because he or she is different; beware of regionalism, tribalism, or anything that makes you feel secure in your own group," he told them.
"You know what happens: first, you believe in prejudices about others, then you justify hatred, then violence, and in the end, you find yourself in the middle of a war," he said.
In urging the young people in the packed stadium to "do the right thing", Francis also asked them not to repeat the mistakes of previous generations. He singled out "corruption, which never seems to stop spreading".
On Wednesday, the pope hosted a mass at Kinshasa's airport that organizers said drew about a million people, some of whom had camped out all night to get a spot.
He then met victims of conflict in the DRC's mineral-rich east, some of whom had suffered appalling violence. They told the pontiff of their injuries and struggles, to which he said "May he convert the hearts of those who carry out brutal atrocities, which bring shame upon all humanity."
Francis takes his appeal for peace and reconciliation to South Sudan on Friday for a maiden three-day visit.
This report was compiled from Reuters and Agence France-Presse.