Jean Beliveau, from Montreal, spent 11 years and went through 64 countries to complete the challenge. He had to cross mountain ranges, six deserts and even some war zones.
There are reports that he had to eat bugs and snakes, and came into close contact with a puma while sleeping in a South American desert.
"Sometimes it was not easy. I wanted to give up," Beliveau said. "The whole family they said please you will go further? So this was a great support."
The 56-year-old was welcomed by his mother and his wife, whom he had seen only once since the start of his trip. He also met his 5-year-old granddaughter for the first time.
"We are living a great moment, a unique moment," said Beliveau.
One of the things Beliveau admitted to missing the most during his challenge was having morning coffee with his wife.
Beliveau says he did the walk to promote world peace and raise awareness about child abuse. He said that he plans to write a book on his adventures.
ABC News contributed to this story.