The Orlando Pirates goalkeeper announced his retirement from international football earlier this year, but quickly turned that decision around following the appointment of Gordon Igesund as coach.
The former Moroka Swallows tactician took charge of his first training session on Tuesday, and Josephs feels the entire squad were able to take plenty of positives from the workout.
"It's good to be back and having returned to the national team it was just a great training session," he said.
"It was our first but I really enjoyed myself. It was more relaxed and we were able as players to enjoy from the beginning to the end."
Bafana will square up against Brazil at the Estadio do Morumbi on Friday as Igesund's team kick-off their preparations for the 2013 Africa Cup of Nations.