"Mukherjee is a seasoned politician with long experience of Delhi politics," said Speaker Rajendra Arlekar, while declaring that the motion congratulating Mukherjee had been passed unanimously.
India will step into a new era under Mukherjee's guidance, he said.
Leader of Opposition Pratapsingh Rane (Congress), who tabled the motion, said Mukherjee was the right person for President's office, which is a position of responsibility.
BJP MLA Vishnu Surya Wagh claimed that there was a cross-voting in Goa from Congress in favour of the opposition-backed candidate P A Sangma.
"The cross-voting should be a concern for Congress," he said, while supporting the motion.
Several other legislators including former Chief Minister Digambar Kamat, Mauvin Godinho, Ramakrishna Dhavalikar and Vishwajit Rane spoke on the motion.