He started off by saying, "I miss you guys so much," but quickly returned to comedy.
"Thanks to my amazing doctors, the support of my family ... I'm here, standing on my own two feet," Morgan, 46, said, following a standing ovation.
He continued, "It's been a long road back, I suffered a traumatic brain injury that put me in a coma for eight days ... [when I woke up] I was just ecstatic to learn I wasn't the one who messed up."
He then joked about how he recently "started to feel like myself, which means a whole lot of women are going to get pregnant at the after party."
Since the crash last year on the Jersey Turnpike that killed one of the passengers in the comedian's limo, Morgan has been fighting to recover.
"He's fighting to get better, and if there's a chance for him to be back to the Tracy Morgan he once was, he's going to try to do that," his attorney, Benedict Morelli, said late last year.