280 days after making his last appearance for Stefano Pioli's side, Ibrahimovic appeared for the final 15 minutes of the 2-0 win over Atalanta.
Ibrahimovic had been sidelined since May 2022 with a knee injury and had been an unused substitute in Milan's last two league games.
Ibrahimovic's first appearance of the season made him AC Milan's oldest Serie A player(41 years and 146 days), overtaking Alessandro Costacurta(41 years and 25 days).
"I want to help the team in every way by doing what I have to do to be there on the field," he told Sky Sport. "I want to be there when the coach and the team need me.
"It's obvious things change between the age of 30 and 41, but I feel like Jokic in the NBA."
"I've lived this year with great suffering," he said when asked what it means to be back playing again at the highest level. "I've been out for a year.
"I didn't feel well and I couldn't do what I wanted to do. I went on with suffering to help the team but in reality I wasn't well.
"Today I can say that I'm fine and that I can give what I can to the team. Then obviously the more you play, the more you train and the more you improve."
Ibrahimovic rejoined AC Milan in January 2020 after leaving Major League Soccer side Los Angeles Galaxy.
The Sweden international has scored 92 goals in 160 appearances across his two spells at AC Milan.