Young children waved the Union Flag and held home-made banners as the first glimpse of HMS Astute crept into view from the Valiant Jetty, where more than 150 people were waiting.

The anticipation gradually heightened as it took more than an hour for the submarine to sail down the Clyde and come alongside before the first sailor disembarked and embraced his excited family.

Luke Benson, a stoker, left on deployment when his son Theo was just four weeks old. His wife Hannah, 26, from Helensburgh, said: “It was tough when Luke had to leave when Theo was just four weeks old, but he stayed strong for me. But at the end of the day it’s his job and he has to go.” Theo was wearing a special outfit to greet his father and the three looked forward to spending the evening together.

Holding his five-month-old son, Luke said: “It’s just amazing to see and hold him again. He’s grown up a bit since I last saw him.” Steve Panniers, weapons engineer, heard his two-year-old daughter Emilia talk for the first time, following his eight months at sea.

“I can’t believe it,” he said. “Emilia is speaking now and I heard her voice for the first time. It’s just amazing.” His wife Sam, Herefordshire, was also accompanied by son Thomas, eight.

Sam said: “It has been hard going without him but you do get used to it. I can’t believe he’s almost here, we are just so excited. We are looking forward to spending time together as a family.” Before Steve left, Sam filled a jar with Maltesers for each day he was due to be at sea. Every day son Thomas took one Malteser from the jar, so he could better understand how long it would be before he saw his father again.

The jar was emptied on Tuesday morning, and Steve, who stays at Faslane, was reunited with his family.

Sam added: “It’s all a bit overwhelming, it’s so good to be back together again.” Stephen Davis, a communications officer, said he was shocked to see how quickly his children Oscar, two, and Isla, eight months, had grown up.

He said: “It’s almost a bit of a shock because the kids grow up so quick. It has been emotional but I have been so looking forward to it. The main thing for us is keeping to a routine - it’s nice to come back to a job well done.” Wife Clare, from Essex, added: “We have been able to Skype him and we can tell him what’s going on which is great but we are just so excited to see him.” Chief Petty Officer Sonar Technician Tony Simpson – known as Bart – was on deployment for the full voyage, and when he walked on shore his daughters Ayla, 7, and Rheana, 4, raced over to greet him.

The 41-year-old said: “After eight months away I’m looking forward to a pint and cuddle.” His wife Jayne, 37, from Colgrain, told the Advertiser: “We are so excited to have him back. I am used to him going away but the girls are at the point where this is the first time they remember him going away so it’s very emotional. They are so looking forward to seeing their daddy again.” Chief Petty Officer Iain Sanderson said the excitement had been building onbaord the submarine as the sailors know they were getting closer to their loved ones.

He said: “This is one of the biggest homecomings I have been to and it is a great atmosphere.” Iain, from Helensburgh, was reunited with his wife Dawn, and children, Isla, 10, Eden, seven, and Ryan, five.

Dawn, who lives in Helensburgh, said the children were so excited they couldn’t sleep the night before and spent the day making a banner. She added: “I’m not normally one for crying but it’s really emotional. I’m just thankful he’s safe and home.”