The top-ranked Serb avoided the post-season exhibitions last month after an exhausting 2015 season in which he won three major titles and reached the final in the other.
The Qatar Open was the only tournament in 16 played in 2015 in which Djokovic failed to reach the final, instead losing in the quarter-finals.
Last year, Djokovic won a career-best 11 titles and finished with an 82-6 record.
"Obviously you never know how you're going to start from the blocks," Djokovic said. "I think I used the offseason very well to train to get my body in the right shape, and I think it was a very good start."
Rafael Nadal, seeded No 2 at Qatar, is also looking for a strong start to 2016.
"The most important thing - play better," the Spaniard said, citing the physical and mental struggles he went through in 2015. Nadal managed to recapture some confidence toward the end of the year, posting a 17-5 record following the US Open. The late push enabled him to finish the year ranked No 5, keeping his top five season-ending ranking streak alive for an 11th year.
- AAP, AP
