The 23-year-old had collapsed twice during pre-season friendlies, against RB Leipzig and then Heidenheim, with Bayern Munich subsequently revealing the issue stemmed from a change in treatment for a neurological condition rather than anything cardiac, sparking weeks of public discussion in Germany over the playmaker's health.
Musiala addressed the episodes himself in an Instagram post at the time, explaining he had been diagnosed with "temporary, brief, but easily treatable absence seizures" caused by a neurological dysfunction, adding that he was receiving excellent medical care and did not consider there to be any additional risk to his health.
He marked his long-awaited comeback with a 33-minute cameo as Bayern were held to a goalless draw by Schalke 04 on Saturday.
"I know Jamal has been a big talking point publicly in recent weeks," Kompany told Sky Sports. "We've been given the green light from the experts and we're happy to have him back. He'll deliver on the pitch and help us move forward."
Musiala had also been managing his way back from a broken ankle sustained at last year's Club World Cup, which cost him six months on the sidelines before he fought his way back to feature at this summer's World Cup. That layered fitness picture has restricted his output this season, with the playmaker managing just three goals and four assists in 15 league appearances last term, well below the standards he set earlier in his Bayern career.
Kompany was left frustrated by Saturday's result despite the boost of having his key playmaker available again.
"First of all, I want to congratulate Schalke on the point," the Belgian said, according to Sky Sports. "We had our chances, but unfortunately we failed to take advantage of our big opportunities. When you're playing against a team that sits so deep, you have to make the most of the few opportunities you get."
The draw leaves Bayern with a win and a draw from their opening two Bundesliga fixtures of the season, a modest start for the reigning champions after they won the title comfortably last term under Kompany.
Musiala, who has become one of Germany's most important attacking players since breaking through at the club, has scored ten goals in 46 caps for his country and was a key part of Julian Nagelsmann's squad at this summer's World Cup, featuring despite still working his way back from the ankle injury that had ruled him out for much of the previous season.