Frimpong played for the first time since February in the Gunners' 6-1 win against Coventry City, after rupturing the cruciate ligament in his left knee while on loan at Wolverhampton Wanderers.
The 20-year-old told the club's official website: "It feels good to be back after so much hard work in the gym, and I'm just pleased to be playing football again.
"I'm a footballer, all I want to do is get out there and help my team, whether I am fit enough to play or fit enough to be in the squad. I just want to be out there with the lads and helping Arsenal progress.
"[The crowd's reaction] makes me feel good obviously and shows that the fans appreciate me here. That is always a nice gesture and I am just happy that I went on to help the team win the game."
Frimpong has had to deal with a series of injury setbacks early in his career; he suffered a similar injury in his right knee that ruled him for much of 2010.