Keeper Iker Casillas and coach Vicente del Bosque were the first to emerge from the Iberia flight shortly after it landed at Madrid's Barajas airport.
The crowd that had gathered at the airport cheered when Casillas raised the golden trophy in the air.
The 23-man squad and the technical team boarded two buses which will take them to a hotel where they will freshen up before attending a reception hosted by Prime Minister Jose Luis Rodriguez Zapatero at his official residence at 6:00 pm (1600 GMT).
After the reception the squad will parade through the main streets of the Spanish capital on an open top bus.
