Los Angeles Chargers quarterback Justin Herbert participated in practice on Monday for the first time since being diagnosed with a plantar fascia injury in his right foot on July 31.

Herbert had to wait on the sidelines for two weeks in a walking boot, but at the time of diagnosis, he was expected to be ready to play by Week 1 after completing a “gradual return to play protocol,” the team said.

“It was a great feeling,” coach Jim Harbaugh said when asked what it was like to see his starter back at quarterback. “It felt like music must be playing, I thought I heard music, maybe angels’ voices. It was a great feeling.”

Harbaugh insisted throughout the injury that Herbert would not miss a beat to adapt to a new offense, saying last month that the team was “full steam ahead” without him.

“The preparation, the work continues,” he said at the time. “He’s not on the field, at training, but in the meeting room, still in the training environment. That chemistry, that relationship that you build with those field players, with your teammates, continues.”

Herbert was able to move freely during the first week of training camp, but was then replaced by Easton Stick, Max Duggan and Luis Perez. In a 13-9 loss to the Los Angeles Rams on Saturday, Stick and Perez combined for 160 yards and no touchdowns, and Stick was intercepted once. Max Duggan — who played in the team’s opening preseason game, a 16-3 loss to the Seattle Seahawks, completing 4 of 7 passes for 41 yards in the loss — was released on Monday.

Herbert did not play in full-team situations on Monday, but was used frequently in 7-on-7 drills. Harbaugh added: “He looked great, with a capital G. No drop-off, pinpoint accuracy. He looked really good.”

Herbert was one of the NFL’s most consistent quarterbacks in his first four seasons, starting 62 consecutive games, the second-longest active streak by a quarterback, before a fracture of his right index finger in Week 14 of last year ended his season. Stick went winless in the Chargers’ final four games.

The Associated Press contributed to this report.