Formal:
* Nous voilà: This is the most literal and formal translation.
* Voici que nous sommes: This is another formal option, emphasizing the arrival.
Informal:
* Nous y sommes: This is a more casual and direct translation.
* Voilà, nous sommes arrivés: This emphasizes the arrival and is more informal.
* On y est!: This is a very informal and colloquial way to say "here we are".
Other possibilities:
* Nous sommes arrivés: This simply means "we have arrived."
* Nous sommes là: This means "we are here."
The best option depends on the situation and the tone you want to convey.