The troubled host took a year off work to focus on his health after crashing his car while drunk last year.
When show boss Simon, 69, chatted to The Sun's Dan Wootton on ITV's Lorraine today, he told how Ant, 43, has slotted back into work with ease.
The music mogul was joined by Amanda Holden and Alesha Dixon and said: "It's like it never happened, that's when you know it's comfortable.
"We're all back together again, we're friends, you know these things happen. I really did miss him."
And Amanda chimed: "He looks really healthy, doesn’t he? He looks great."
Dan revealed Ant's first exclusive interview since his drink-drive shame and remarked that the star looked "the happiest I've ever seen him", with Simon nodding in agreement.
He replied: "I agree with you there. It is actually the happiest I've ever seen him."
Ant and Declan Donnelly have hosted BGT since its inception and Ant started filming the auditions for BGT last month.
No official date has been released for the show's return but it is likely to air in May and June 2019.
Ant and Dec recently revealed they have already hit their Golden Buzzer.
In a tweet, they said: "We hit our @BGT Golden Buzzer today. It's a Real good un. You'll have to wait to see who it is tho… #BGT"
The winners of Britain's Got Talent will perform in front of the Royal Family at the Royal Variety Performance and nab a prize fund of £250,000.
Meanwhile, Ant's return has been overshadowed by his bitter divorce battle with ex wife Lisa Armstrong, 42.
She recently revealed she thinks he would never have returned to work if it wasn't for her.
She liked a tweet from a fan which accused the TV presenter, 43, of being 'hurtful' and 'happier than ever'.
The tweet said: "Really feel for @lisaAmakeup – she supported her husband since they were just kids to have it rubbed in her face that he's now happier than ever. So hurtful.
"Why behave like that Ant? @antanddec You wouldn't be where you are today without her. #ZipIt."
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