The team plane landed at Tegel Airport in midmorning after flying low over the "fan mile."
Captain Philipp Lahm led the team off the aircraft holding the trophy aloft, to a chorus of "Football's Coming Home" from fans on the airport's viewing terrace.
He was followed by Schweinsteiger, draped in a German flag and sporting a bandage over a cut under his right eye, the result of a tackle in the final.
From the airport, the team set off on a two-hour trip to downtown Berlin in a bus painted with the years of Germany's World Cup victories: The previous occasions were in 1954, 1974 and 1990.
The team changed shirts and climbed aboard an open-top truck for the last part of the trip to the Brandenburg Gate, crawling through the crowds at snail's pace. The festive crowds followed in the wake of the bus as it passed.
"It's indescribable," fan Till Uhlig, from Hannover, said of the number of supporters.
People traveled to the celebration from all over the country: "They've all taken their holidays to come here. It's absolutely crazy," Uhlig said. "We were behind the stage where the bus pulled up. Just incredible.
Berlin resident Katrin Fels, who brought her daughter, said: "We knew it would happen. It was clear from the start of the year that we had the best team. It's perfect, perfect for all generations."
Munich also was getting in on the act, with Germany's large contingent of players from Bundesliga champion Bayern Munich heading for the Bavarian capital after the Berlin celebrations. Bayern and the local government planned a reception at the airport.
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