The Frenchman, who is widely regarded as one of the best midfielders of all time, retired from professional football in 2006.
The former Los Blancos star spent a period away from the game following his retirement, but has since taken on a coaching role at his former club.
"I wanted to reconnect with the excitement that football brings. After what I experienced as a player, I definitely felt the need to be involved every day – feel that pressure again," he told L'Equipe.
"I do not regret my decision to take a step back. I took my children to school every day and did many things with them. Things are now clarified in my head – I have realised what I want to do and how I want to do it.
"I want to be useful to Real Madrid, but I also want to coach my own team. I achieved a lot as a player, but I now want to do the same in my second career. I'll be an ambitious coach. My team will be balanced with a tendency to attack. Football can be very simple, and that's how I want my team to play."
Zidane acted as a special adviser to Madrid before taking on a coaching role at the start of the season.