Novak Djokovic apologised but confirmed he had been dealing with a blister after only playing a set of his exhibition match in Adelaide.
The world number one had reportedly withdrawn and was replaced by Filip Krajinovic for a clash against Jannik Sinner.
But Djokovic played the second set, winning it 6-3 after Krajinovic had taken the opener 6-3 on Friday.
The 17-time grand slam champion, who had a blister on his right hand, apologised after the match.
"I'm sorry that I didn't step in on the court from the beginning," Djokovic told Channel 9.
"I had to do some treatment with my physio and wasn't feeling my best the last couple of days, I didn't know how I'm going to react.
"I wanted to play and I wanted to get out here and hopefully it was enough for you guys to see all three of us performing in front of you on the court today, I hope you enjoyed."
Djokovic, who came out of hotel quarantine on Friday, said he could not pass up the opportunity to play in front of fans.
"It's not easy but it's part of what we do. We are professional athletes we learn over the years to play with the pain and it's just a question and case whether that pain is bearable or not," he said.
"Obviously coming off from the hard training block and having an ATP Cup and Australian Open around the corner you don't want to risk it too much.
"But the emotion was so strong in me to come out on the court today seeing almost full stands, I had to play, that's it, I had to play."
Djokovic is due to play the ATP Cup starting on Tuesday, before the Australian Open begins on February 8.
Alcaraz begins Madrid Open campaign with emphatic win
Carlos Alcaraz continued his fine record at the Madrid Open with an emphatic 6-2 6-1 victory over Alexander Shevchenko on Friday.
The two-time defending champion made it 12 straight wins at his home tournament to ensure he will face Brazilian Thiago Seyboth Wild in the last 32.
Alcaraz was playing his first match on the ATP Tour since March 28 after being unable to compete in the Monte-Carlo Masters and Barcelona Open due to an arm injury.
But he was still able to make a fine start to his clay-court season, breaking serve in the first game and racing to victory in only one hour and eight minutes.
Data Debrief
Sometimes the scoreline can be harsh on a beaten player, but on this occasion Alcaraz was clearly dominant, breaking the Kazakh seven times in the match and forcing 11 break-point opportunities while conceding only three for his opponent.
That allowed the Spaniard to claim a dominant victory despite being broken once in each set. He will now turn his attention to a clash with Seyboth Wild, who battled past Lorenzo Musetti with a 6-4 6-4 win.
Reigning champion Sabalenka pushed by Linette at Madrid Open
Aryna Sabalenka got her Madrid Open campaign started with a 6-4 3-6 6-3 win over Magda Linette on Friday.
Sabalenka could not quite hit her peak form against Linette, but the world number two nevertheless got the job done after going the distance.
The Belarusian is hunting a record-equalling third title in Madrid, where she is the reigning champion, though she has not won back-to-back matches at a tournament since winning the Australian Open.
"It's not about being confident," Sabalenka said. "It's about how much you're ready to do to get it. It's about the hard work and to be ready, be ready for the big fights. I feel like confidence is not going to help you in those big matches. It's about staying there and fighting for it."
Data Debrief
Sabalenka (70 per cent, 56-24) is now one of five active players since 2020 to hold a winning percentage of 70 per cent or higher at WTA-1000 events.
Iga Swiatek, Simona Halep, Elena Rybakina and Jessica Pegula are the other players to feature on that list.
Rybakina continues clay winning streak with victory over Bronzetti
In-form Elena Rybakina has moved into the last 32 of the Madrid Open after a straight sets victory over Italian Lucia Bronzetti.
Number four seed Rybakina triumphed 6-4 6-3 on Friday and will next face either Marta Kostyuk or Mayar Sherif.
Rybakina was broken early in each set but ultimately had few problems getting over the line, converting four of her five break points to continue an impressive run of results after winning the Stuttgart Open last week.
She has now won five consecutive WTA matches and has 13 straight wins on clay courts to her name in a superb streak that started one year ago.
Data Debrief: Rybakina in elite company
Since the start of 2020, only two other players have claimed as many 13 consecutive WTA wins on clay, and they are Iga Swiatek and Simona Halep, so Rybakina is in elite company.
Rybakina's last defeat on this surface came in the 2023 edition of the Madrid Open, when she fell to Anna Kalinskaya in her first match, so this win represented a better start to her campaign in the Spanish capital.
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