He said: "It's been hard for me in the stands as I want to be out on the field. I'm very passionate about the team. It's great to be back and I want to be playing every week.
"I came straight back into the fold after doing half a day of training on Tuesday. I said to the boys that I haven't made a tackle in ages but I guess it's like riding a bike - you never forget."
Warriors scored three tries against Aviva Premiership champions Leicester, but were pipped 21-18 on a cold night at Sixways.
And Percival admits it was the ideal setting for him to return.
He continued: "It was a great match for me to come back into as it was my sort of game playing dogged rugby.
"The result was disappointing but we have to trust in what we are doing and the systems we are using."
Despite Warriors' frustrating start to the season, the second-row is confident the tide is turning at Sixways.
He added: "The performances might not be there at the moment but things are getting there and you have to take into account that it takes time.
"It's hard with new coaches because players have been used to different things. It's about getting used to the new things, making them become habit and making them part of your DNA.
"I have seen the progression sitting on the sidelines and I believe the results will come."
After being a spectator for the first ten games of the season, Percival insists he has to prove himself to regain a regular spot in the team.
He admitted: "Being injured has meant I can't be as vocal as I normally would. I've got to prove myself on the pitch and earn the respect of the new players.
"My focus now is to be able to play 80 minutes of rugby. I've got to get back to performing in this team and supporting the boys and the coaches in everything we do."