He said: "I can't wait for Harlequins. It's the last home game of the season and it's against my old team.
"It will be a tough game but we want to end the season with victory over a top-four side to thank the fans for their support."
Percival is set to play his 50th game for Warriors against Conor O'Shea's side during his second spell at the club.
And the academy graduate admits it will be a proud occasion when he pulls on the blue and gold shirt for his half century appearance.
He continued: "To play 50 games for Worcester Warriors is a big thing for me and hopefully I'll play many more because I love this club. I'm full of pride every time I run out and I just want everyone to believe in this club like I do."
Percival had played every minute of every Aviva Premiership game this season until he was replaced by Dean Schofield during yesterday's clash at Saracens.
And the 29-year-old insists the team illustrated their never-say-die attitude during the second-half before eventually succumbing to the table-toppers.
He added: "I can't fault anyone's attitude out there. We had the intention to do what we did at Northampton earlier this season and fight back to get a bonus-point.
"We really believed we could put them under pressure. There was a point after our second try where Saracens were panicking a little bit.
"They proved too strong in the end but it's a new week for us now and we're all looking forward to a big clash against Harlequins."
Tickets are selling fast for Warriors' final Aviva Premiership clash against Harlequins at Sixways on Saturday 20 April. To guarantee your seat for the Sixways send-off call 01905 454183 or click here.