There is a lot of misunderstanding about these two prepositional phrases. Here is the explanation:
You arrive IN a city, country, big area.
We arrived in Boston at 4 p.m.
When did you arrive in Europe?
Foreigners who arrived in the country recently have to take a medical test.
You arrive AT a place such as a house, building, airport…
John arrived at the airport early.
Jane usually arrives at school before 7.
They arrived at the museum just before closing.
Note: We arrived home (not: we arrived at home)