Rudd, who the Labor Party reinstalled as leader four weeks ago ahead of this year's election, made the trip yesterday with his wife Therese Rein to troops in southern Uruzgan province.
"On behalf of a grateful Australian nation I am here to say to you, the men and women of the Australian Defence Force, thank you for a job well done," Rudd told soldiers at the Tarin Kowt base.
"I say... Thank you, and it's about time we brought you home."
Australia is preparing to wind down its deployment to Afghanistan after entering in late 2001, in the wake of the September 11 attacks on the United States.
"When the flag of Australia is brought down for the last time a few months from now, you will have been a part of history," Rudd told the troops.
Canberra has had some 1,550 in the war-torn country but the bulk will be brought home by the end of the year and the Tarin Kowt base handed over to Afghan authorities.
Forty Australian soldiers have died in the conflict, the latest a special forces soldier who was killed by small arms fire in June.
One soldier told the Australian Broadcasting Corporation he was "very honoured" that Rudd, who is under pressure to call an election, had made the visit.
"He's actually taken the time out of his very busy schedule to come and do that for us, it's fantastic, 100 percent support from Australia.Makes you a very proud Aussie," he said.
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