The 25-year-old has been sidelined for nine months after rupturing the anterior cruciate ligament in his left knee during the closing stages of the Gunners' FA Cup third-round victory over Tottenham.
"It has been a hard, long nine months," Walcott told Sky Sports News after featuring for the first half of Friday night's goalless draw at Meadow Park.
"I always need to go out there and play to the best of my ability
I don't think about picking up little knocks - I think about the game
That's what I did tonight, and I got through fine."
Walcott ruled out playing for the Gunners this weekend against Hull and was adamant he would not rush a return to first-team action.
"It was a massive blow when it happened, but I am focused on the present now and I will take it day by day," he said.
"I need to be patient with myself
It is important to recover
I need to be patient
The manager will choose to play me when he wants - it (the injury) needs to be managed as well.
Abou Diaby also played 67 minutes and Serge Gnabry an hour for the Gunners.
Source : PA