At the airport in the capital Brasilia, the right-wing nationalist ex-president was met by hundreds of supporters, Reuters news agency reported. He is now expected to take a leadership role in the opposition.
"We have turned the page and will now prepare for the elections next year," he told CNN Brasil, according to Reuters.
In October, he lost the even presidential election to left-wing candidate Lula da Silva. Bolsonaro, however, never admitted defeat.
In January of this year, he traveled to the United States. A little over a week later, his supporters stormed the Brazilian Congress. Successor Lula da Silva placed the blame for the incident on Bolsonaro. Both Bolsonaro and former Justice Minister Anderson Torres have been investigated for involvement in the storming.