Former Vice President Joseph R. Biden Jr. appeared on a late-night talk show for the first time as a 2020 candidate on Wednesday, using the opportunity to poke fun at — and dismiss criticism of — his penchant for verbal stumbles.

In an interview on “The Late Show With Stephen Colbert,” Mr. Biden also drew a contrast between his slip-ups and actions undertaken by the Trump administration.

“Any gaffe that I have made — and I’ve made gaffes like every politician I know has — have been not about the substance,” Mr. Biden told Mr. Colbert.