During the installation, Maduro proclaimed a "victory for democracy".
Say what you will, do what you must, but this constitutional installation could not be stopped and is a great victory for democracy in Venezuela, proclaimed Maduro.
In recent days, the country has been shaken by unrest ahead of the installation. On Thursday, opposition leader María Corina Machado was arrested during a protest against Maduro in the capital Caracas. She was later released.
Earlier on Friday, Venezuela announced that it would close the border with neighboring Colombia ahead of the installation.
We have information about an international conspiracy to disrupt the peace of the Venezuelans, said Governor Freddy Bernal.
The EU, USA, UN, and several neighboring countries have expressed doubts about Maduro's victory after the presidential election in July and point out that the election data has not been fully disclosed.
Maduro has been written off many times during his turbulent time in power – but the former bus driver has stubbornly clung to the reins.
Maduro lacks the charisma or the large oil revenues that his late mentor and predecessor Hugo Chavez had, and he is accused of increasingly relying on security forces to maintain control.
This summer, more than 2,400 people were arrested, 28 people were killed, and 200 injured in crackdowns on the protests that followed the disputed election.
