Julian Assange reunites with family as he arrives in Canberra

Julian Assange hugs his wife Stella after stepping off the plane in Canberra. (ABC News)

WikiLeaks founder Julian Assange has landed in Australia, ending the former fugitive's decade-long diplomatic saga.

Assange's plane touched down just after 7:30pm in Canberra as his family, supporters and media watched on.

As she got into a car to Canberra's military air base, Assange's wife, Stella Assange, said she did not yet know what Julian's first day in Australia would be like, but his children were very excited to see him.

"It's hard to describe, we've been waiting for this for so long," she said.

Crowds erupted in cheers as Assange waved at supporters and hugged his wife on the tarmac.

As he stepped off the plane, Prime Minister Anthony Albanese speaking from parliament welcomed his return.

"Earlier tonight I was pleased to speak to Mr Assange to welcome him home and had the opportunity to ask him about his health and have my first discussion with him," he said.

"His safe return to Australia as we know means so much to his family."

Mr Albanese said Assange expressed "praise" for the Australian government's efforts in returning him home, saying it took patient diplomacy.

Earlier on Wednesday, Assange pleaded guilty to one charge of conspiracy with a sentence of "time already served", in a deal that concluded the United States' pursuit of him for more than a decade.

The US had sought Assange's extradition from the United Kingdom since 2012 over the publication of classified US military intelligence through WikiLeaks.

A WikiLeaks press conference is expected to be held at 9:15pm at the East Hotel in Kingston.