(CNN) Former Vice President Joe Biden reflected Sunday on how he wants to spend the rest of his life, saying he wishes to remain "engaged in all the issues that have animated my life" and "spend as much time" as he can with his family.

At a book tour event in Burlington, Vermont, on Sunday afternoon moderated by author Jodi Picoult, Biden was asked how he wants to spend the rest of his life. Some in the audience yelled "run, Joe, run!" and "2020," prompting cheers and applause, but Biden didn't bite. The former vice president is considering whether to launch a run for the White House in 2020 and has said he'll make a decision within the next two months.

"I want to be able to, when my life is finished, be able to say to myself that I kept my commitment to Beau, that I didn't walk away, that I stayed engaged in all the issues that have animated my life my whole life," Biden said Sunday. "I want to spend as much time as I can with my family. I have five grandchildren who adore me."

"I literally text or speak to every one of my grandchildren every single solitary day," Biden added. "Beginning, middle and end is family."

That commitment the former vice president made to his late son Beau Biden is at the center of his memoir, "Promise Me, Dad." Biden was promoting the paperback version of the book at the event.

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