The 35-year-old had been out of action since April due to an Achilles tendon problem, but featured for the full 90 minutes against the Bergamo side.
I'm back on the pitch at last, Samuel was quoted as saying on the official Inter website.
It was a difficult game but I felt quite good even though I've been out for nearly six months.
I was sorry to miss out before now, but my team-mates have been putting in a huge amount of work and effort.
Samuel has made over 200 official appearances for Inter since joining them from Real Madrid in the summer of 2005.
