The Brazilian set the first timed lap of the opening practice session for Sunday's race on a sunny morning at the Hungaroring.
The Brazilian had suffered a major accident in the track last year and needed a life-saving surgery after his skull was fractured by a 2lb metal spring that pierced his helmet.
He had spent more than a week at the AEK Hospital in Budapest while his wife and parents flew in from Sao Paulo to keep vigil by his bedside.
Massa visited the circuit medical centre on Thursday to thank the staff who extracted him from the car and tended to him.
“I am not worried about going back to Hungary. I was never afraid to get back in an F1 car. I wanted to do as quickly as possible. It was a very difficult time - but somebody was saying that I still need to be here, so I'm here, very happy and working, still doing my job," The Sun quoted Massa, as saying according to ANI report.