Sinbad is expressing his gratitude after suffering major health challenges four years ago.

In 2020, the comedian had a stroke, and two years after that, he learned to walk again. As his health continues to improve, Sinbad continues to experience milestones in his life. Last week he joined his cast from "A Different World" on tour. This marked his first public appearance since his medical emergency in Oct. 2020, as reported by E! News.

The NBC show –which ran for six seasons– is currently on a 10-city tour to promote HBCU enrollment and raise scholarship funds. Sinbad participated virtually during the first tour stop on Feb. 29 at Morehouse University in Atlanta, GA. Darryl M. Bell, Charnele Brown, Dawnn Lewis, Glynn Turman, Cree Summer, Jasmine Guy, and Kadeem Harrison were also in attendance at the school's campus.

While watching a video of the event on his phone, Sinbad took to Instagram to thank people who had supported him during his health journey.

"Thank you for your prayers, support, and positive thoughts," he said in the post's caption. "They’ve carried me this far and will see me through to the finish line. It really is a different world out here!"

He also showed appreciation for a new generation of fans he has garnered.

"Getting a chance to be on a Zoom and say something to the kids It's wild that the kids even know who I am. That's beautiful," he explained in the video of his post.

"Thank you to everybody who's been praying for me, saying good things, and supporting me during this time in my life," he continued. "It means a lot to me. Thank you so much."

He added, "God has been with us and he's carried me. Well, he's carried me through my whole life and it means so much when I hear from y'all and you tell me 'Sinbad, keep going. We're sending prayers. My family's praying for you."

"Those words are important and I feel it. I feel those prayers."

Sinbad also teased more public outings of himself in the future.

"Expect to see more of me soon and don't freak out if you turn around and I'm standing right behind you," he said, adding, "Miracles happen."

Sinbad rose to fame after appearing in several HBO comedy specials in the early 90s before starring in "The Sinbad Show" on Fox from 1993-94. He also played the beloved Coach Walter Oakes on "A Different World." Sinbad recently co-starred in the Fox series "Rel," from 2018 to 2019.