The defender managed just under an hour in a friendly win over Red Baroons fan club - his first appearance in 594 days after his troublesome knee injury
Badstuber played for an hour as the defending Bundesliga champions claimed a 3-0 win in a pre-season friendly with the Red Baroons fan club.
The 25-year-old's appearance marked the first time he has played in a game since rupturing a cruciate ligament against Borussia Dortmund in December 2012.
And his return went to plan as the Germany international got nearly 60 minutes under his belt in a comfortable victory for Bayern after 594 days on the sidelines.
David Alaba was the star of the show with two goals, the first a cracker from 25 yards and his second a free kick after 17-year-old midfielder Daniel Hagler had doubled the lead.
Robert Lewandowski missed out on his first appearance for the German champions, but fellow new signings Sebastian Rode and Juan Bernat both featured from the start.
Bayern and Badstuber will continue their preparations for the new season against MSV Duisburg on Monday.