Hessenthaler told BBC Radio Kent:"The hairs stood up on the back of my neck.
"It brought back a lot of memories of when I first arrived here as a player. I was delighted by the reaction of the fans, I hope I can deliver for them."
Hessenthaler made more than 300 appearances for Gillingham as a player after joining in 1996.
He succeeded Peter Taylor as Gills manager in 2000, taking them to their highest ever position in the Football League - 11th place in the second tier in 2002/3.
He stood down as Gillingham player-manager in November 2004 and, after finishing his playing career at Barnet, took up the post as Dover Athletic manager in 2007.
"It was a tremendous reception from the supporters, now it's time to get the promotion that we all want straight away," added Hessenthaler.
Source: BBC Sport
Source: BBC Sport