Strahan was greeted warmly by Stephanopoulos and Roberts – and got cheers on set after being introduced.
On May 13, Strahan bid farewell to Live after four years on the show.
Sitting next to Ripa, 45, he told audiences that his last day was “bittersweet,” but reminded them that he would be staying in the ABC family.
“Of course you get nervous and I’ve done this for four years so this is a moment that I didn’t anticipate being here at this point, but it’s here and we’re going to enjoy it,” Strahan said. “I’m not dying! I’m still in the family! And I’m still available to come back if I’m ever called to co-host so I’m not going anywhere. I’m not gone.”
Strahan, who will co-anchor the ABC morning show each weekday, told PEOPLE of accepting the new position: “Can’t wait to be there full-time. Great, great family to work with over there, I’m looking forward to it.”
Good Morning America airs weekdays (7–9 a.m. ET) on ABC.