The Spain international had not featured for Pep Guardiola's side since their Uefa Super Cup victory over Chelsea in August due to a groin injury, but made an appearance in place of Thomas Muller in the second half of Saturday's 3-2 win at the Allianz Arena.
After nearly two months on the sidelines, Martinez admits he must work hard to recover full fitness, but is eager to earn his starting place back as soon as possible.
"I feel good and am very happy to be back with the team," he told the club's official website.
"I now need training to reach my top level as fast as possible."
Kroos and Robben were away from the first team working exclusively with fitness coach Andreas Kornmayer, while Dante continued his rehabilitation from an ankle injury.