Second-seeded Japanese Naomi Osaka made her return to clay to beat fellow Japanese Misaki Doi 7-5, 6-2 in the first round of the Madrid Open in Madrid, Spain on Friday.

Osaka overcame Doi's strong start by hitting six aces and breaking her serve five times.

A leg injury meant Osaka missed last season's clay-court swing, and her last individual tournament on the surface was at Roland Garros in 2019. She played and lost for Japan against Spain's Sara Sorribes Tormo in the Fed Cup in February 2020.

"When I was playing on clay that year, I didn't feel uncomfortable at all,'' Osaka said. "The two matches that I lost, it was more mental than it was physical. Like, I didn't feel uncomfortable sliding or I didn't feel that tired. So I'm actually really excited to get that mindset back and to start feeling more comfortable on clay.''

Osaka, the U.S. Open and Australian Open champion, next plays Karolina Muchova after the Czech beat China's Wang Qiang 6-1, 6-3.

Third-seeded Simona Halep, who won the tournament in 2016 and '17, beat Sorribes Tormo 6-0, 7-5.

Sixth-seeded Karolina Pliskova fought back to oust Cori Gauff 5-7, 6-3, 6-2, while Daria Kasatkina needed three match points to see off Irina-Camelia Begu 4-6, 6-4, 7-6 (1).

Jennifer Brady beat Venus Williams 6-2, 6-4 after breaking her serve six times.

Maria Sakkari roared back after losing the first seven games of her match against Amanda Anisimova to win 0-6, 6-1, 6-4.

In other matches, Daria Kasatkina needed three match points to see off Irina-Camelia Begu 4-6, 6-4, 7-6 (1), and fifth-seeded Aryna Sabalenka defeated Vera Zvonareva 6-1, 6-2.