Badstuber ruptured his anterior cruciate ligament against Borussia Dortmund in December 2012 and suffered a recurrence of the injury in May last year, but despite enduring a prolonged spell on the sidelines, said he was confident he would return and claims he is now playing pain free.
"No, there was no doubt [that I might not return from injury]," the Germany defender told the club's official website.
"I always knew I'd get a chance here, playing free of any pain. I always looked forward and was very focused.
"I don't make any demands [on my knee]. I enjoy every training session. Obviously I want to improve.
"I'm feeling good. If I look back over the last year, in comparison with today, I have made such big steps."
The former Stuttgart youth player has made 149 appearances for Bayern despite his enforced absence, and now hopes he can look forward to a successful future with the club.
"I hope it will continue that way and then we will see what happens," he continued. "It was a great feeling to finally be on the pitch with the team again.
"It is very useful to have match practice, because it is certainly not like usual training. I'm enjoying every second and I don't have any pain at all. I will continue to work hard and then we will see what happens."