Smiling and waving to fans, the 76-year-old Ferguson took his seat in the directors' box for the first time since his operation in May.
The Scot had emergency surgery for a brain haemorrhage on May 5 and was in intensive care for several days at Salford Royal Hospital.
The last time Ferguson attended a game at Old Trafford was in April, when he presented outgoing former Arsenal manager Arsene Wenger with a commemorative gift.
"It's great to go back to the stadium and it's going to be quite emotional for me when the game starts," Ferguson told MUTV.
"It had to happen some time and I've been looking forward to it. It was important getting the right time and the right rest before coming to a game."
Ferguson was United manager from 1986 to 2013, winning the Champions League twice, the Premier League 13 times and five FA Cups.
He was knighted in 1999, the year United won the treble of Champions League, Premier League and FA Cup.
(Reporting by Simon Evans; editing by Ken Ferris)
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