Turning to Michael after opening the show, Robin said: "It's good to have you back," to which he responded: "It's great to be back. I missed you two."
George added: "Wish you were coming back to better news," before introducing a report on the gun shooting at a bank in Louisville, Kentucky.
Prior to his return on Tuesday, Michael had been absent since March 27. The former football star had been away from work on a well-deserved vacation.
Taking to Instagram on Friday, he shared a video that showed the host taking a dip in the pool with his pet dog Enzo. He wrote in the caption: "When Enzo needs me, I'm there! #SpringBreak #VacaStray #ComingInHot."
While Michael was away, various other hosts stepped in to cover for him, including ABC News' Senior National Affairs Correspondent, Deborah Roberts. The seasoned journalist and wife of Al Roker wasn't the only fill-in in for Michael in recent shows, with Rebecca Jarvis, who is ABC News' chief business, economics and technology correspondent, and Lara Spencer taking over co-anchoring duties.
Michael is no doubt a fan favorite host on GMA, a position he has held since 2016. The TV personality also holds an important role away from his work life as he is a doting dad to four children.
He shares his twin daughters Isabella and Sophia, 18, with his ex-wife Jean Muggli and his two older children, daughter Tanita, 30, and son Michael Jr., 27, with his first wife, Wanda Hutchins. The host is also stepfather to Wanda's son Dorian.
Opening up about fatherhood in a previous interview with People, Michael said: "My kids give me strength. I love being with the kids. To me, it's all about family, now more than anything."
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