The 52-year-old arrived back in Australia on Wednesday night for the first time in 14 years, landing in Canberra after he left the UK in a plea deal struck with US authorities.
Assange's wife Stella said her husband was looking forward to getting back simple pleasures.
"Julian plans to swim in the ocean every day. He plans to sleep asleep in a real bed," she told reporters at Parliament House on Thursday.
"He plans to taste real food and he plans to enjoy his freedom."
Stella Assange said her husband will be reunited with their two sons "soon". (AP PHOTO)
Ms Assange recounted the heartfelt moment her children learned their father had won his freedom, but said they were waiting to be reunited as a family together.
"We want to do it when we're in the same place," she said.
"I am obviously here and the kids were asleep when he arrived last night, it still hasn't happened yet.
"They were very excited when they found out that daddy was coming home.
"I managed to send the video of them reacting and jumping on the sofa to Julian while he was in Saipan, and he was very, very pleased."
The family has pleaded for privacy following Assange's return to Australia
Assange's lawyer Jennifer Robinson remained adamant there was no evidence people were physically harmed as a result of the publication of secret documents 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."
Prime Minister Anthony Albanese was thanked alongside other politicians and officials for helping to secure his release.
Stella Assange and Jennifer Robinson move through a media crush after Assange's homecoming. (Lukas Coch/AAP PHOTOS)
"This is a huge win for Australia and for Australian democracy," 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."
Mr Albanese was the first caller to Assange.
Earlier tonight I was pleased to speak with Julian Assange to welcome him home to his family in Australia. — Anthony Albanese (@AlboMP) pic.twitter.com/r0Yl3iJtdbJune 26, 2024
Foreign Minister Penny Wong said she was pleased with the outcome of Assange's return to Australia.
"This matter had gone on too long. Whatever your views about Mr Assange's activities, we wanted to see him reunited with his family, return to Australia," she told Sky News.
"He's an Australian citizen. We sought to advocate for him ... this matter could only be conducted when legal processes are concluded, that;s what occurred in the US court yesterday and that enabled his return last night."
Ms Assange was joined in the house by members of the Bring Julian Assange Home Parliamentary group. (Lukas Coch/AAP PHOTOS)
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.
Greens senator Peter Whish-Wilson, who had been advocating for Assange's release, said it was a relief he was able to return home.
"I can't tell you how happy I am that this has happened," he told reporters in Canberra.
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