Williams was pregnant when she lifted the trophy in Melbourne last year, and missed the rest of 2017 awaiting the birth of her daughter in September.
Monday's event, which featured eight players facing off in 10-point "super tie breaks" as they vied for a $250,000 winner's prize, was a chance to sharpen her skills.
"It was good," she said of the experience. "I wish I would have made a few more shots."
Williams opened the laid-back event with a 10-5 victory over Marion Bartoli, the 2013 Wimbledon champion who announced in December she was planning to return to the court more than four years after retiring in the wake of her only Grand Slam triumph.
After correcting the protocol for the "rock-paper-scissors" game used to determine who served first, Williams fell behind 4-2, but a double-fault from Bartoli followed by two aces from Serena saw the American great ahead 5-4.
"It feels different, it feels good," said Williams, who returned to competition with a Fed Cup doubles loss alongside her sister Venus last month.
The birth of Williams's daughter, Alexis Olympia, was followed by complications that scuppered the player's plans to defend her title in Melbourne.
But Williams says she's aiming to be back at her best -- apparently more than comfortable with coach Patrick Mouratoglou's comments to wtatennis.com that her goal for this season "will be to win Grand Slams."
"That's the message that I'm sending."
Bartoli, who was forced to pull out of an exhibition event at Wimbledon last year because of a mystery virus and dramatic weight loss, has said she was targeting a return to the WTA Tour at the Miami Open later this month.
However, the 33-year-old told AFP her timetable would depend on how her body holds up to training.
"I do not know if my shoulder and my knees are going to hold, there are so many question marks," she said.
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