Brookes - who was diagnosed with a brain tumour shortly after collapsing in Philadelphia while onstage with the group in September - joined his bandmates for the encore of their gig at The O2 Academy Birmingham.
Burgess insists his return was extra-special because it happened in his hometown.
He told BANG Showbiz: "It was great to have him back on Saturday playing The Drums. He got a bit tired, to be honest, but he's good.
It was an emotional experience. I just let him do his thing really, because it was his hometown and he wanted to come on and play for the last song so I just kind of stood out of the way and let everyone look at him."
Burgess also revealed Brookes has undergone surgery to remove the tumour and now has to have six weeks of gruelling chemotherapy.
Speaking at The Q Awards at London's Grosvenor House hotel yesterday afternoon (25.10.10), he added: "He's had an operation, which went well. He's on the road to recovery and he's doing good. "He's having six weeks of chemotherapy so he'll be getting quite tired, although I don't quite know how it works and how he'll be feeling."
The Charlatans cancelled their US tour in the wake of Brookes being diagnosed with the condition but continued with their European and UK dates with replacement drummer Pete Salisbury, formerly of The Verve.