Australia's Rio Olympics team have touched down on home soil, landing in Sydney on Wednesday morning.

Chloe Esposito, who won the first-ever Australian medal in modern pentathlon, was in tears - describing her experience at the games as 'so special'.

It comes as the athletes have been warned to use condoms during sex for the next two months to prevent the spread of the potentially deadly Zika virus.

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Australia's Rio Olympics team have touched down on home soil

Modern pentathlon gold medallist Chloe Esposito was in tears when she arrived

Mack Horton gives a thumbs-up to the cameras after stepping off the plane

Athletes were greeted by Prime Minister Malcolm Turnbull on their return

'Since London it has been a hard four years, especially the past two, Mum and Dad coming overseas, it has been crazy, but it has been worth it,' Esposito told Sunrise.

The modern pentathlete said she was proud that her chosen sport had become better-known since she won gold.

'It is so special, and it really is sinking in now seeing all of this.'

Earlier, Federal Health Minister Sussan Ley warned returning athletes, spectators and officials to 'conscious and cautious' about their potential exposure to Zika.

Cate Campbell, Mack Horton, Kyle Chalmers, Emma McKeon and Brittany Elmslie are welcomed home

Australian Prime Minister Malcolm Turnbull looks at the bronze medal of Jessica Fox

Brittany Elmslie (left), Emma McKeon (right) are welcomed home

Swimmer Taylor McKeown showed off her silver medal after landing in Sydney

Lisa Darmanin (centre) and Mathew Belcher (left) wave to the waiting crowd

She said while the disease is usually spread by mosquitoes, there is a low risk of person-to-person transmission through sexual activity.

'If you've recently visited Rio for the Olympics, chances are you could have been bitten by a mosquito,' Ms Ley said.

'This is no cause for alarm, but there are some simple tips the Australian government has developed to help identify symptoms of the virus and minimise its transmission.'

Swimmer James Magnussen is interviewed during the Welcome Home for Australian Olympic Games athletes

Race walker Jared Tallent won silver in the 50 kilometre walk

Tom Burton proudly shows off his gold medal

Most cases of Zika display mild flu-like symptoms or nothing at all.

Those returning from Brazil, including spectators, are advised to use condoms or avoid unprotected sex for at least eight weeks.

This period should be extended to six months if diagnosed with Zika.

Exposure to Zika virus infection during pregnancy may cause severe birth defects including microcephaly.

The swimmer is seen here with his family after landing in Sydney

Young swimmer Kyle Chalmers spoke to waiting media shortly after arriving

Catherine Skinner - who won gold in the trap shooting - was reunited with her family

Most cases of Zika display mild flu-like symptoms or nothing at all

Women who are pregnant or realise they are pregnant after returning from Brazil should see their doctor for advice.

Women who are pregnant and whose partner has returned from Brazil are advised to avoid unprotected sex for the duration of their pregnancy.

There have been 44 confirmed cases of Zika virus in Australia this year, all acquired overseas.