The pair signed autographs and posed for photographs before they and their fellow Olympians was taken to the Sheraton Hotel for a press conference where they were surprised with a welcome from family members.
Peaty, 26, was greeted with his 10-month-old son George in an emotional reunion.
“I cried,” he told PA. “For anyone that spends any time away from their kids for more than a week or more than a day, it’s obviously been emotional.
“But coming away with everything we’ve worked for as a family and as a team, it’s great to see that pay off and it’s a moment I’ll remember for the rest of my life.”
The swimmer, who won two golds and a silver in Tokyo, including retaining his men’s 100-metre breaststroke title, said he plans to take a break, adding: “I’ll come back with a lot more fury and a lot more fire.
“If I’ve got that and I’ve got my fitness, technique and everything that makes me happy, I think I’ll be more dangerous than ever.”
Olympic debutant Dean, 21, who was a breakout star at the Games with golds in the individual and relay 200-metre freestyle events, was reunited with his family and girlfriend at the hotel, where he placed a gold medal on her.
Speaking before he left with family members to go to a homecoming celebration in Maidenhead, Berkshire, he said it was “very special” to be a part of the Olympics during a time “where we saw how strong the team really was”.
Dean’s mother Jacquie Hughes told PA: “It’s the first time we’ve seen him for a couple of months so even just seeing him is amazing.”
She said when Dean was reunited with his relatives, he hugged and kissed them, saying “this is for you”.
Ms Hughes added: “We’ve got a meal ready for him at home. He’s got some jerk chicken and rice and salmon and salad. He’ll want to see his dogs.”
James Guy, 25, who won three gold medals at this year’s Olympics, told PA that he could not wait to return to being a “normal boy” on his return from the Olympics.
When asked the first thing he will do when getting back to his family, Guy answered: “Probably have a curry.”
He said: “That’s one thing I’ve really missed, is having home food and home comforts. It’s just great to get back home and I’m going to have some great food in Bath.”
Guy said he is looking forward to “being allowed to go shopping, go to some restaurants, go to town, go for a walk and get a coffee”.
Team GB claimed a record eight swimming medals, eclipsing their previous best of seven at the 1908 Games. Only the US and Australia finished ahead of Britain in the swimming medals table.