The 21-year-old returned to the club who made him the player he is this season, and hopes the loan will help him to establish himself as a United and England player next season.
Zaha has only ever featured in two Premier League games for United and admits he is delighted to finally be playing first-team football again.
After Palace's 0-0 draw with Burnley, he said: "I signed for a couple of years at United so the goal is to do my best here for the season and go back and make sure I get back into the team and the England set-up.
"It is just great to be playing again. There is nothing like being out on the pitch and the crowd singing your name.
"I know how everything works here and the gaffer just wants to give me game-time and wants me to improve so I am just glad I am back.
"Sir Alex Ferguson was the person who bought me. He left and people have different points of views on players.
"I thought about leaving a while. Then I thought: ‘Let’s stay and prove how I can play to the new manager’. He felt it was best for me to go on loan and it was best for me to come home."
There is no question that Zaha is a very talented winger and, since his return to Palace, he has looked like the player he was when Ferguson signed him for £10 million plus add-ons in 2012.
It's debatable whether the Ivory Coast-born player ever got a real chance at United. During preseason in David Moyes's tenure, Zaha was undoubtably one of United's best players. Some would even say he looked more exciting than Adnan Januzaj who went on to have a stunning debut season in the first team.
However reports have suggested Zaha had a questionable attitude in training, and first and foremost chances in the first-team have to be earned in training. His first team manager now, Neil Warnock, said that Manchester United was too big for him at this stage of his career.
Despite Zaha's obvious desire to succeed at United and however successful his season is at Palace, it's unlikely with Louis van Gaal's vast array of attacking options, that he will have room for the wide-man in his United revolution.
United lack the time Zaha needs to be educated at present; they need experienced and established players in the first team squad if they are going to get back to the Champions League. For his own sake leaving on a permanent basis might be the best option come the end of the season.