Baros left the Czech club 11 years ago and went on to play for the likes of Liverpool, Aston Villa and Galatasary.
"I have come home. It was fantastic, it is a great motivation for me,” he told Uefa.com.
"The crowd got behind us for the whole match – I have to thank them a lot. I also hope that next time we will give them more to celebrate.
"I had butterflies in my stomach during the first half. That has not happened to me for a long time. I am glad these feelings came as they mean that I still enjoy football 100%."
Baros had yet to play a competitive match this season before coming off the bench for the last 25 minutes in the 0-0 draw with SK Dynamo Ceske Budejovice, but aims to be ready to play a full match soon.
"To make up for my lack of fitness, I will be training twice a day a few times in the next few weeks.”