The Lloyd Mullaney actor has been on an extended break to film a new series of cult comedy Red Dwarf.
Speaking to itv.com, Charles gushed: "How does it feel to be back? It feels brilliant actually. I'd never thought I'd say this but you kind of miss the place after a while.
"I've missed playing Lloyd because I love playing him as a character and, of course, I miss the Steve McDonald stuff. I've missed the cab office and I've even missed the chair. It's good to be home."
The Liverpudlian comic recently called for writers to maximise his on-screen chemistry with Simon Gregson.
Charles, who has played cab driver Lloyd since 2005, last month signed a three-year contract extension with the ITV soap.
Watch Craig Charles's return scene as Lloyd in the clip below: