Brookman, 39, a nurse and father of five, was arrested after he flew into Sydney on Friday night.
He was extradited to Victoria where he was charged with one count of knowingly providing support to a terrorist organisation and one count of performing services with the intention of supporting a person to engage in a hostile activity in a foreign state.
He has been remanded in custody until November 16 and did not apply for bail.
Court documents allege Brookman carried out guard duty and reconnaissance for Islamic State between April 2010 and August 2014.
His return to Australia was negotiated between the Australian Federal Police, Victoria Police and other commonwealth government agencies and international partners.
Brookman told Fairfax Media in May he was in Syria for humanitarian work, but was forced to join Islamic State after being injured and sent to territory under its control.
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