Trump, who has vowed to curtail immigration and build a border wall on the U.S. -Mexico border, threatened this week to halt aid if Central American governments did not act.
Dozens of Arizona National Guard members were among those deployed to the border.
The migrants are fleeing their country because of violence and poverty.
In April, Mexican immigration officials had some success in dispersing a smaller caravan by processing many who chose to seek refugee status in Mexico, but some did continue on to the USA border.
In April, Mexican immigration officials had some success in dispersing the smaller caravan by processing many who chose to seek refugee status in Mexico, but some did continue on to the US border where they were processed over several days.
Trump claimed that "Criminal elements and DRUGS [are] pouring in" and that it is "All Democrats [sic] fault for weak laws!"
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The immigration issue sparked a lively confrontation Thursday at the White House between chief of staff John Kelly and national security adviser John Bolton, according to news reports.
At a news conference with Videgaray, Pompeo called illegal migration a "crisis" and emphasized "the importance of stopping this flow before it reaches the US border", while also acknowledging Mexico's right to handle the crisis in a sovereign fashion. Mexico's next foreign minister said he was not surprised by Mr Trump's comments, but did not elaborate. It was unclear if they were trying to swim across to the Mexico side of border, back to Guatemala or just get relief from the crowds on the bridge.
Anyone with appropriate travel documents and visas will be let into Mexico, while others will be allowed to apply for refugee status.
The migrant caravan is heading north as the USA mid-term elections approach, and Donald Trump lost no opportunity to comment as he addressed a rally of supporters in Montana.
One Honduran human rights group said the migration was more a case of "forced displacement" than voluntary emigration, although the Honduran government has warned people not to join an "irregular movement" it describes as "political".
"It was predictable, and it's also very close to the election".
The migrants have agreed that they will begin their journey to the border crossing between Guatemala and Mexico around 11 a.m. local time.
The group chanted: 'We are not smugglers, we are migrants, ' as they reorganized themselves on Friday afternoon. "If they advance, we close [the doors]", a federal police officer told a group of 30 police agents at the border crossing Thursday afternoon.