Cosgrove puts handshake gaffe behind him

The governor-general has righted his wrong with a hug.

Peter Cosgrove caused a stir earlier this year when he appeared to snub a handshake with deputy Labor leader Tanya Plibersek.

The Queen's representative put the gaffe behind him on Tuesday, embracing Ms Plibersek after making his opening speech to a joint sitting of the new parliament.

Sir Peter courted controversy in April when he addressed parliament after it had been recalled to consider the government industrial relations bills that triggered the double-dissolution election.

Once he finished speaking, Sir Peter shook hands with Senate President Stephen Parry, Prime Minister Malcolm Turnbull, deputy prime minister Barnaby Joyce, House of Representatives Speaker Tony Smith and Opposition Leader Bill Shorten.

Ms Plibersek, standing right next to Mr Shorten, extended her hand too but Sir Peter appeared to blank her, leaving her to shrug her shoulders in bemusement.

It left onlookers wondering whether the snub was deliberate or accidental.

Either way, it appears to be water under the bridge.