Australia's new Governor-General has vowed to dedicate his tenure to supporting the people that help the nation's most vulnerable.

Key points: Former NSW Govenor David Hurley has been sworn in as Australia's 27th Governor-General

Former NSW Govenor David Hurley has been sworn in as Australia's 27th Governor-General General Hurley is a former senior Army officer who spent more than four decades in the military

General Hurley is a former senior Army officer who spent more than four decades in the military Replacing Sir Peter Cosgrove, General Hurley vows to help organisations who assist veterans, asylum seekers and Indigenous people

Chief Justice Susan Kiefel swore in General David Hurley as Australia's 27th Governor-General at Parliament House in Canberra on Monday.

Late last year, then newly installed Prime Minister Scott Morrison announced General Hurley, the then NSW Governor, would replace Sir Peter Cosgrove as Australia's most senior official.

General Hurley is a former senior Army officer who spent more than four decades in the military.

Speaking at his swearing in, he said the richness of the nation was apparent in the organisations that support those most in need.

"I have seen this richness of spirit at work in the people and the organisations assisting our veterans, our rural communities under stress, asylum seekers who we have welcomed into our country and our Indigenous brothers and sisters," General Hurley said.

"There are countless organisations and people demonstrating how rich this country is every day.

"As Governor-General, I am committed absolutely to supporting these people in their work."

David Hurley said organisations who protect those most in need demonstrate Australia's richness of spirit. ( ABC News: Matt Roberts )

General Hurley thanked his predecessor, who served slightly longer than his allocated five-year term to allow the change to happen after the federal election.

"I know that I will be doing so, I will follow on and build on the work of Sir Peter Cosgrove and Lady Cosgrove," General Hurley said.

"Driven by the timeless notions of public service and working for the common good, they undertook a daunting program of engagement over the last five years."

General Hurley's appointment attracted complaint from Labor last December, with the Opposition arguing the appointment should have been made after the election.

Sorry, this video has expired David Hurley (left) was the PM's "first and only choice" as the nation's next governor-general.

But there has been bipartisan support for General Hurley and the credentials he brings to the role.

"You have shown yourself to be generous, approachable, humble, humane and as someone who looks people straight in the eye, not up and down," Mr Morrison said.

"All of those qualities, together with Mrs Hurley, you bring together to this role."

General Hurley's swearing-in comes on the eve of the official start of the 46th Parliament.

He will return to Parliament House to oversee the opening of the Parliament on Tuesday.

General Hurley received the Distinguished Service Cross for his leadership during Operation SOLACE in Somalia in 1993.