The former S Club 7 star and successful pop soloist had been forced to pull out of the ITV show last week after injuring her wrist in rehearsal.
But Stevens, 43, was given the go ahead by doctors and made her first performance to Lady Marmalade from Moulin Rouge in Movies Week, supported by husband Alex Bourne and their daughters Amelie, 11 and Minnie, seven, waving homemade banners.
The singer told presenter Holly Willoughby it was so "special" to have her children in the audience.
Watch: Rachel Stevens pulls out of Dancing on Ice debut due to injury
She added: "Theyve never seen me in real life, performing, dressed-up so its so good to be able to share it with them."
Stevens also said: "It's so good to be here finally."
The Don't Stop Movin' singer and her professional skating partner Brendyn Hatfield received 6.5/10 from most of the judges, and a 7/10 from head judge Christopher Dean giving them 26.5/40.
They one praise for a "solid" first performance in the competition but all the judges urged Stevens to overcome her nerves and "be brave" going forward.
Dean told her: "What I'd like to see now is a bit more speed. Live it - be brave."
Oti Mabuse encouraged: "Get over the nerves now, break out of your shell - you can do it!"
And Jayne Torvill sympathised: "You should be so proud of that performance - you've had such a lot to deal with, getting over an injury."
Judge Ashley Banjo told Stevens: "For your week one it was such a solid performance, but Moulin Rouge - I expected a bit of fire. Now you've got it out of the leave it all out on the ice."
Olympic BMX rider Kye Whyte announced over the weekend he would not be taking part in this week's show due to medical advice after injuring his knee in training.
A Dancing On Ice spokesperson said: "During rehearsals for this Sunday’s show, Kye fell on the ice and sustained an injury and will therefore not perform in this weekend’s show."
Last year's Dancing On Ice suffered a record number of celebrity drop-outs, with five celebrities forced to leave the cast over injury and testing positive for COVID, and a number of the pro skaters also injured.
Watch: Bez fall in Dancing On Ice training