The wide receiver, who has one year remaining on his contract, has been linked to a move away from the team, although the Vikings have denied that he will be traded.
The Minnesota quarterback told KFAN-FM: "Obviously we want Percy back. He's a tremendous player and he's a Viking. And those are tough shoes to fill, and we don't want to fill them.
"He's a heck of a player and a heck of a part of this offense and this team in general. Of course we want him back."
Harvin was the Vikings' leading receiver in 2012 with 677 yards, but missed seven games with an ankle injury.