"I feel comfortable back on the clay", Nadal said after the match at the Plaza de Toros bullring in Valencia.
Spain's Rafael Nadal celebrates winning his quarterfinal match against Germany's Philipp Kohlschreiber.
World number one Nadal had not played as he murdered from the Australian Open quarterfinal towards Marin Cilic in January having a leg injury, but made light function of Kohlschreiber to draw five-times winners Spain degree at 11 from the tie.
Nadal's win was a record 23rd in a row in Davis Cup competition.
"I played a solid match".
The heavily-favored US team took a 2-0 lead against a depleted Belgium side on the indoor hard courts in Nashville, Tenn., to come within a point of its first Davis Cup semifinals in six years. But it's great to be in front of my crowd on a very memorable day.
In the opening match, world number 4 Alexander Zverev upset the local favourite David Ferrer 6-4, 6-2, 6-2.More news: Australia storm to freestyle relay gold
Spain have form on their side - they have won 26 straight home ties, with their last defeat on Spanish soil coming against Brazil in 1999.
Saturday sees the doubles duel and the two final singles are scheduled for Sunday.
Lucas Pouille fired the French ahead with a laboured 6-3 6-2 4-6 3-6 6-1 win over Andreas Seppi before home favourite Fabio Fognini redressed the balance with a 6-7 (6) 6-2 6-2 6-3 defeat of Jeremy Chardy. "I am playing not just for me but also for Italy".
The victor of the tie will face either Spain or Germany for a place in the final. "It's my first clay-court match in a very long time, so it was great to find my rhythm so quickly", Zverev said.
In Nashville, John Isner and Sam Querrey lifted the United States into a 2-0 lead over last year's runners-up Belgium on Friday as the 32-time champions attempt to reach the semis for the first time in six years.
Feliciano Lopez and Marc Lopez fought gallantly after losing the first two sets, drawing level in a marathon match of over four-and-a-half hours, but Tim Puetz and Jan-Lennard Struff eventually sealed a shock 6-3 6-4 3-6 6-7 (4-7) 7-5 victory.