King Felipe VI has urged lawmakers to try to win back public confidence following the "unease and disquiet" he said was generated in the 10-month deadlock following two inconclusive elections.

While inaugurating Parliament's new legislative period Thursday, Felipe said Spaniards had set an example of maturity and good sense and that it's now the turn of politicians to live up to expectations.

Felipe, accompanied by Queen Letizia and their two princess daughters, was greeted with resounding applause by lawmakers on entering the chamber.

Spain's political impasse ended last month when conservative leader Mariano Rajoy finally managed to win Parliament's approval to head a minority government.

Rajoy, who has been in office since 2011, must now win opposition support to pass every single bill.