This is stated in a statement by the White House.
"With this letter, the United States government is withdrawing a letter dated July 6, 2020, which stated that the United States government intends to withdraw from the World Health Organization starting July 6, 2021," the message says.
The letter also states that the United States intends to remain a member of WHO.
Biden also announced the intention of the United States to fully participate in the fight against threats to global health and play the role of a world leader in this matter.
Biden previously signed executive orders for the return of the United States to WHO and the Paris Climate Agreement.