Watched by a crowd of 4,000, the 49-year-old teamed up with Czech player Barbora Strycova to beat Olga Blahotova and Ahsha Rolle 6/2 6/3 in Prague.
"The return means a lot for me," said Navratilova, who received a standing ovation as she arrived on court.
"You can't prepare for it. I kept telling myself I had to do something to make sure it wouldn't affect me."
