Venezuela's Guaido calls to protest after police clash

Shortly after the police fired tear gas to repel an anti-government protest in Caracas on Tuesday, Venezuelan opposition leader Juan Guaido called for people to keep the protests going.

Guaido has struggled to reignite the protests to capitalize on mounting international pressure against socialist President Nicolas Maduro, but the opposition gathered by several hundred with the goal of taking back the National Assembly, taken two months ago by a faction of the opposition that claimed leadership of the legislature with the support of the ruling socialist party.

After clashes broke out between protesters and security forces, Guaido led a smaller group to a safer part of Caracas for an impromptu outdoor session of the National Assembly.

Addressing lawmakers, he repeated his refrain the only solution to an economic and social crisis marked by hyperinflation and crumbling public services is free presidential elections.

Guaido also called for people to keep the protests going and be proud of being agitators.

"The people have no fear. The people won't step back. The only outcome is freedom," he said

In a parallel rally at the center of Caracas, Maduro ally and powerful socialist party boss Diosdado Cabello dismissed any international support for Guaido's cause.

"No! Lords of the imperialism, you're completely wrong. If you want to speak with the Venezuelan president, call the Miraflores Palace," Cabello said.