The fit-again 27-year-old, who is closing in on a playing return for Quins, admits he is excited about the chance to represent a club that has always remained close to his heart.
"I'm coming back to Worcester ready to play and in the best shape to make an impact. I'm a better player for my experiences and ready to show the supporters what I can do," he said.
"I've always followed Worcester since I left. Every weekend I played I would look for the Worcester result too and when the club got relegated I was gutted. When I played against them it was always my biggest game.
"I'm from the area and remember playing with guys like Luke Narraway and Will Bowley in the Academy when I was at Warriors.
"Since I've left Sixways I have played plenty of Premiership games and some big fixtures in the Heineken Cup, I have got more experience and I feel I have a lot to offer. Now I want Worcester to be near in the top half of the Premiership and competing in the top European competitions."
Percival is also not mixing his words when he spells out just what he plans to bring to the squad under the guidance of Head Coach Richard Hill and Forwards Coach Phil Davies.
"I'm not the kind of player that takes a step back, you can't be put off by the challenge in front of you and I like the battle and getting in people's faces," he said.
"I have also seen firsthand what can be achieved by teams that have gone down when I was at Quins and I genuinely believe Worcester can come back up a stronger club. I really hope the squad can now deliver in the play-offs.
"I've signed to bring success to a club that means something to me. In many ways, I left the club as a boy and I am coming back a man."
Percival will know a number of faces in the Worcester camp from his previous spell at Sixways and believes the recruitment of players such as Ceri Jones and Shaun Perry will be major positives.
"I'm excited by the squad that is being built at Sixways," he added. "Ceri Jones is an unbelievable signing, who I know all about from playing alongside him at Quins, and Shaun Perry will also be great for the club.
"I know both players well and speak to them a lot. They will come to Worcester with a massive point to prove, to show why they are making the move and that they have the desire to succeed."