Villa came on as a substitute in Barca's friendly against Dinamo Bucharest on Saturday after nine months out with a fractured fibula.
The 30-year-old forward said: "It's a very happy day, I feel like a footballer again.
"You have to be patient, I have taken a big step but it is very clear that I still have a long way to go.
"The goal is getting back to the highest level, but I do not know when I can reach it. I wish it were sooner, but I insist that I must have patience."
Barcelona begin their La Liga campaign under new coach Tito Vilanova against Real Sociedad on Sunday, August 19.