He said the US made clear its "categorical refusal to recognize or legitimize a government [of rebels] that would have taken power by force."
Foley's speech, delivered in elegant French, drew much applause but some hostility.
"I think it is time now to accept your responsibility and admit you made a mistake in making us suffer 10 years of Aristide," said businessman Philippe Villedrouin.
He was referring to former US President Bill Clinton's deployment of 20,000 troops to Haiti in 1994 to end a brutal military dictatorship, restore Aristide to power and halt an exodus of tens of thousands of boat people.
Villedrouin criticized Foley for asking them to condemn the rebels while forgiving Aristide when "the rebels liberated us."
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