The Italy international admitted that he needed a new challenge in his career and revealed that he had no problems in adapting to life at the Turin-based club
The 32-year-old playmaker, who signed for Juventus last summer on a free transfer after a decade with Milan, has played a leading role in the Bianconeri's quest to win their first league crown since 2002-03.
Milan are currently three points behind leaders Juventus, with four games remaining, and Pirlo is not indifferent to the challenge posed by his former club.
"We knew that they would battle until the end," Pirlo told the club's website. "Obviously, as I played there for 10 years, I feel this to be a special race.
"Improvements have been noticed game after game, which boosted our self-confidence.
"I immediately felt I belonged to this team, also because I have known some of my team-mates for a long time.
"Moreover, playing for a new club gave me some extra drive."
Juventus will tackle Novara in their upcoming Serie A match, while Milan will visit Siena.