Venezuelan opposition leader Juan Guaido arrived in Caracas on Monday evening, after attending a 'Lima Group' summit in Colombia to discuss putting more pressure on President Nicolas Maduro.

Guaido faces arrest as he left Venezuela for a week and a half while defying a travel ban imposed by the Supreme Court.

"We've come back to continue serving in our function, and to continue to push for the end of the usurpation," he said upon leaving the airport, greeted by a crowd of supporters.

"We know the risks, we all know the risks of doing politics in Venezuela and to exercise our freedom of association, but here we are."

Venezuela has been in the midst of a political crisis since January, when opposition leader Juan Guaido declared himself interim president, in a move that was rapidly recognised by the US, as well as several European and Latin American nations.

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