Two seasons after leaving, veteran Andre Iguodala has agreed to return to the Golden State Warriors, his agent, Brandon Rosenthal of Landmark Sports, confirmed to ESPN's Adrian Wojnarowski on Friday.

He became an unrestricted free agent when the Miami Heat declined the $15 million team option.

"Who would have thought I'd have the opportunity to go back to the place where I was able to have, whatever you want to call it, legacy years, in terms of the accomplishments, winning multiple championships, the relationships that I was able to build with some of my closest friends and teammates?" Iguodala told the New York Times on Friday.

"The relationship with the fans, the relationship with the Bay, the opportunity to end it here, was just something special."

Iguodala, 37, spent six seasons with the Warriors, winning NBA championships in 2015, 2017 and 2018. He was the Finals MVP in 2015.

Iguodala averaged 4.4 points, 3.5 rebounds and 2.3 assists in 63 games for the Heat last season. The 17-year veteran has career averages of 11.6 points, 5.0 rebounds and 4.2 assists.

Iguodala said he pondered retirement after last season, but came to the realization that he's "got some more time left."

"Where I'm comfortable at is I can decide when I'm ready to go," Iguodala told the Times. "I think I want to leave with just a little bit left. I don't want to go out on one leg. I know I've got a few more years. It's just my decision whether it's one or two or three or whatever it may be. I shouldn't even say three. One or two."