"For them to believe in me today means nearly as much as it did when they believed in me the first time 20 years ago".
"It's not like I didn't have any opportunities to go drive race cars", Kenseth said, via ESPN's Bob Pockrass.
With his Cup Series career largely assumed to be over at the end of the 2017 season - though he wouldn't say he was headed into retirement - the 46-year-old driver will return to the track behind the wheel of the No. 6 Ford, Roush Fenway Racing confirmed Wednesday during a press conference at the NASCAR Hall of Fame.
While the team said it is still working out the details of which specific races Kenseth will run, his first one will be at Kansas Speedway on May 12.
Kenseth's races will be sponsored by Wyndham Hotel Group, a new sponsor for RFR.
"It feels like this is the right deal at the right time", Kenseth said.
Kenseth took the stage and immediately joked with his close friend, saying that if he had waited for Martin to retire before getting a shot in Roush's No. 6 vehicle, "I would have been 39 [years old] my rookie year".
The team has not yet released information on what race will be Kenseth's first.
Martin, who drove Roush's #6 from 1988 to 2006, was instrumental in convincing his team owner to sign Kenseth. "I hope I can be much more to the organization, and I'm hoping there's a lot of different ways I can help".
Kenseth had been with Roush/Fenway Racing at the start of his career, becoming a champion in 2002. The duo of Stenhouse and Bayne have one combined top-10 finish this season in nine races. Furthermore, he is back with Roush Fenway Racing. The team was a weekly contender for wins and championships but has lost a step or two over the years. "He's one of the most talented drivers to ever sit inside a race vehicle and his will to win, drive and determination have always embodied what we strive for as an organization". He moved to Joe Gibbs Racing in 2013 and won 15 of his 39 career victories driving for Gibbs. "My seat got filled before I had that option".
Kenseth said he's watched all the Monster Energy Series races this season on television, although he allowed that he's "probably watched more closely the last few weeks".
As Kenseth's longtime friend and mentor Martin reminded the crowd, '"Just because you walk away from the race vehicle for a while doesn't mean you're done forever".