Members of Milosevic's Socialist Party and the party's Funeral Committee, led by Milorad Vucelic, who has been authorised by Milosevic's family to arrange his funeral, were waiting at the airport to collect the coffin.
On board the same flight was Milosevic's son Marko, who travelled to The Hague on Tuesday to claim his father's body.
Vucelic has said earlier that Milosevic's body will be transferred from the airport to the mortuary at the Army Medical Centre in Belgrade, from where it will be taken to Pozarevac on Saturday for burial.
Milosevic died of a heart attack last Saturday in his cell at the UN war crimes tribunal in The Hague where he had been on trial on charges of genocide in Bosnia-Herzegovina and war crimes in Croatia and Kosovo, committed during the 1990s wars.