Taylor has had to undergo surgery on a series of potentially career-threatening knee injuries, but returned to very light training on Tuesday.
"It's been a long road, if you like," he told the club's official website. "I don't know where to start really, but I've finally got my boots back on which was a great feeling, even though it was just a couple of jogs outside. It was just a relief to get them back on.
"It's taken a while, but we're getting there and I can see the end now."
Taylor joined Newcastle in 2009 from Wigan Athletic.