Former defense force chief David Hurley has been sworn in as Australia's governor-general at Parliament House, a day before lawmakers come back to work for the first time since the May election.

Hurley said he will use his tenure to emphasize Australia's concern for the common good, which he experienced over the last few years as NSW Governor.

"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," he 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," he added.

Hurley replaced Peter Cosgrove who held the position since 2014, and will officiate on Tuesday when Parliament resumes.