I returned after being inactive for about ten years (give or take) and effectively I just walked in through the doors (I will admit I did have my family with me) - some of the people I knew but a lot I didn't and I was made to feel very welcome.
My bishop at the time came up to greet me. The hardest bit, as with everything, was just walking through the doors, but it was well worth it and I haven't regretted it once.
Hope that helps somewhat.