But as formal traditions dating back hundreds of years played out at Parliament House, protests called for action on conflict in the Middle East.
During Governor-General Sam Mostyn's speech laying out the priorities for the three years ahead, more than a dozen pro-Palestinian demonstrators were detained after protesting inside the foyer of parliament, before being removed from the building.
Hundreds of protesters called for sanctions on Israel on the lawns of parliament, with one woman arrested, federal police say.
Traffic around Parliament House was also disrupted by the protests.
As the governor-general read her speech, Greens senator Mehreen Faruqi held a silent protest by holding a sign that read: "Gaza is starving. Words won't feed them. Sanction Israel".
Ms Mostyn said cost-of-living relief would be high on the agenda for the next term.
"(Voters) re-elected a government that will continue building on the foundation of its first term, upholding the values of fairness, aspiration and opportunity," the governor-general told the upper house.
"The government will work to repay the trust Australians have placed in it."
The day began with an ecumenical service at a Wesley Uniting Church, with the prime minister promising to get down to business quickly.
"Every day is an opportunity to deliver for Australians and this week we will have legislation to do that," he told reporters outside the church.
"We'll continue to work hard each and every day in the interest of Australians."
Mr Albanese will command a large majority in his second term as leader, with Labor holding 94 of the 150 seats in the House of Representatives.
The size of the majority was on display on the floor of parliament for the first time since the election, with Labor MPs sitting on both sides of the aisle in the lower house.
Across the chamber, Opposition Leader Sussan Ley presides over just 43 lower-house MPs after an election wipeout for the coalition.
"We got smashed at the last election and the number of seats that we now hold is a demonstration that we are at a low point," Ms Ley said.
"But we're here to work hard, we're here to put the interests of the Australian people that we come here to represent front and centre.
"And we know that aspiration connects every single thread of Australian society."
After a ceremonial welcome to country and smoking ceremony on the forecourt of Parliament House, MPs and senators were sworn in one-by-one at their respective chambers.
Business soon turned to the election of a speaker for the House of Representatives.
Labor MP Milton Dick was re-elected to the role with bipartisan support before being ceremonially dragged to the speaker's chair by MPs.
The prime minister said Mr Dick would continue to conduct the role with "fairness, with humour and with intellect".
The returning speaker said it was a "profound honour" to carry on in the position.
"My view is the role of speaker is not one of partisanship, but of stewardship, and it's my solemn responsibility to ensure that democracy is not only practised here, but it's strengthened here," Mr Dick said.
In the Senate, Sue Lines was re-elected as president of the chamber, but not before One Nation leader Pauline Hanson's surprise nomination of political rival David Pocock for the position.
The independent ACT senator declined the nomination.
After Tuesday's ceremonial opening, formal business begins on Wednesday with legislation including for a 20 per cent reduction in HECS debt for students.
9°C