Julian Assange's children 'ecstatic' at his freedom

Touchdown ... Julian Assange can't hide his excitement after landing back in Australia.

Stella Assange has recounted the heartfelt moment her children learned their father had been freed.

Julian Assange stepped onto Australian soil on Wednesday night for the first time in 14 years, raising his arm in a clenched-fist gesture and hugging his wife.

After more than a decade of legal battles, the 52-year-old WikiLeaks founder landed in Canberra to a cheering crowd after leaving the UK.

Ms Assange spoke of the reaction of their children when she told them the news.

"They were jumping on the sofa and just ecstatic," she told ABC Radio.

Hours after pleading guilty to espionage at a US court on the Pacific island of Saipan, Assange was free, but not ready to face the public.

"I ask you - please - to give us space, to give us privacy, to find our place, to let our family be a family before he can speak again at a time of his choosing," Ms Assange said as tears welled in her eyes.

She and lawyer Jennifer Robinson faced a large media pack, including questions about the wrongdoing to which Assange pleaded guilty as part of a deal with the US.

"There is no evidence that anyone was physically harmed as a result," Ms Robinson said in response to questions about the impact of secret documents published by WikiLeaks.

"The public interest in those publications is clear. Evidence of war crimes, that the US had not disclosed the extent of civilian casualties in Iraq and Afghanistan. The use of torture and other forms of human rights abuse around the world."

Ms Assange said the WikiLeaks founder needed space.

"You have to understand what he's been through. He needs time. He needs to recuperate," she said.

Prime Minister Anthony Albanese was thanked alongside other politicians and officials for helping to secure his release.

"This is a huge win for Australia and for Australian democracy. This is a huge win for free speech," Ms Robinson said.

"This is a huge win for Australia, that our prime minister stood up to our ally, the United States, and demanded the return of an Australian citizen."

As the jet touched down in Canberra, Mr Albanese was the first caller to Assange.

"Julian thanked him and the team and told the prime minister that he had saved his life. And I don't think that that is an exaggeration," Ms Robinson said.

Mr Albanese had directly raised the issue with US President Joe Biden.

A group of politicians from across Australia's parliament converged on Washington to lobby the US on behalf of Assange last September.

For supporters like Rik Jurcevic, a writer and performer who turned up to Wednesday's homecoming, Assange is a courageous person who stands up for free speech and accountability.

"He's an incredibly brave man. He is no dummy. He knew that there was danger in taking on the USA," Mr Jurcevic said.