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Venezuela’s National Assembly erupted into chaos on Tuesday as opposition lawmakers took their seats to begin the new year’s session, but only after forcing their way through a phalanx of government soldiers.

National Guardsmen in body armor initially prevented Juan Guaidó, the leader of the country’s opposition, from entering the building along with his supporters.

“Here the people rule!” the legislators cried as they pushed through the heavy wooden doors and installed Mr. Guaidó at the front of the assembly’s main hall.

It was an exceptionally turbulent morning, even for a nation that is becoming increasingly accustomed to high-stakes political drama.

And it did little to resolve Venezuela’s political tumult: The country, which is facing a worsening humanitarian crisis, has two men claiming the presidency and two men claiming the leadership of the assembly.

On Tuesday, the legislature’s first meeting of the year deteriorated into a melee in which, according to Mr. Guaidó’s press office, four opposition legislators were injured.