Los Blancos have started their journey for the North American tour with Montreal as the first stop for the Spanish giants.
Speaking at a general press conference, the former Juventus forward revealed his excitement of playing in the Madrid outfit again.
"It's amazing to be here again, it's a dream, and I look forward to working with all the enthusiasm in the world.
"[Zinedine] Zidane works hard and creates a lot of physical work for you."
Morata has won two consecutive league and cup doubles during his two-year spell with the Zebre before making a switch back to the Madridistas for a deal worth £23 million.
The influential striker also spoke about his time with the Italian side and only had words of praise for his former team.
"It's been two amazing years at Juventus, where I have learned a lot and I can only thank them all because were it not for them I would not be here."
Los Blancos kick-off their 2016/2017 campaign with a clash against triple Europa League winners Sevilla for the UEFA Super Cup on August 9.
