Machado was released after a brief detention while leaving a protest in Caracas Thursday on the eve of President Nicolas Maduro’s inauguration.

Machado’s appearance at the rally was her first public appearance in months, since a government crackdown on Venezeulan opposition figures and their supporters last year.

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Nicolás Maduro took the oath before parliament, vowing his third six-year term in office would be a "period of peace".

During her detention, an aide said, Maria Corina Machado “was forced to record several videos.” She has garnered enormous support for her opposition to Nicolás Maduro.

President Nicolás Maduro was sworn in for another six years on Friday, after claiming to win an election in July that many inside and outside Venezuela say he lost decisively.

Venezuelan strongman Nicolás Maduro began a third term as president on Friday, cementing his increasingly authoritarian rule.

Maduro’s inauguration seals an election outcome that opposition politicians and the US government say was stolen.

Venezuelan President Nicolas Maduro is set to be sworn in for a third term on Friday amid protests and international calls for him to stand aside.

I'm good, I'm safe,” Machado said, adding “Venezuela will be free.” Supporters are protesting against President Nicolas Maduro.