The world number one player was deported from Australia on 16 January due to his COVID-19 vaccination status.
But on his return to action, he defeated Lorenzo Musetti of Italy 6-3, 6-3.
"A pleasant experience," he said.
After thanking the crowd after his first match of 2022, Djokovic said: "I couldn't have chosen a better place to start the season - it was the best possible experience tonight.
"Overall, it's a straight-sets win so definitely I have to be satisfied, especially after two and a half, not playing for almost three months."
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