Mr Guaido faced crowds of chanting supporters as well as several European diplomats within moments of touching down at Caracas airport. Exiting the airport, he declared: “We are here in Venezuela. We are stronger than ever.” He added: “We are going to achieve the end of the usurpation very soon in Venezuela.” He also said he “won’t be stopped”, despite the self-proclaimed interim president warning Mr Maduro against kidnapping him, his wife and his team.
He said: “If Maduro’s government tries to kidnap us it will be one of the last mistakes it makes.”
The warning was supported by Washington with US National Security Advisor John Bolton promising that should Mr Guaido’s safe return to Venezuela be in any way hindered, Caracas will face “a strong and significant response from the US and the international community”.
Mr Guaido left Venezuela for a Latin American tour on February 22, which saw him break a travel ban imposed on him by the Venezuelan Supreme Court.
This means he risks arrest now he has returned to the nation as well as a punishment of 30 years behind bars.
Mr Guaido announced his planned return on Twitter, with his post also featuring an audio message.
He said: “I am determined to return. By the time you hear this message, I will be on my way home.
“We are stronger than ever. The usurper will try to repress us but we’re stronger than ever.”
Mr Guaido declared himself acting president of Venezuela in a move supported by the US, UK and Canada.
Up to 50 countries oppose Mr Maduro, who has made numerous attempts to block much-needed aid to the country.
Recently it was revealed President Donald Trump’s administration could offer financial assistance alongside official loans from the IMF and other institutions to prop up a new government for Venezuela.
But experts say the country first needs billions of dollars of aid after millions of impoverished refugees have fled for the border and surrounding countries to escape Mr Maduro’s regime.