The 79-year-old made his first notable appearance since undergoing emergency head surgery last month, donning a fedora for the ceremony held on the anniversary of the mob attack by backers of right-wing former president Jair Bolsonaro.
"Two years after the attempt to weaken democracy, leaving a trail of destruction and trying to suffocate hope with hatred, we continue our uncompromising defense of democracy and our country," Lula wrote ahead of the ceremony on X.
"Today we hand over to the Brazilian people part of their heritage that they tried to destroy. Our response to anti-democratic attacks is unity, solidarity and love. And we will continue like this," he added.
The attack on the presidential palace, Congress and Supreme Court came a week after Lula was inaugurated, with Bolsonaro supporters calling for the military to oust him, and claiming the election was stolen.
The Brasilia riots stunned the world with striking echoes of the US Capitol invasion two years earlier by supporters of Donald Trump.
A total of 21 damaged artworks have been restored and returned to the seats of power.
Among the most iconic items restored is the modernist painting "As Mulatas," by Emiliano Di Cavalcanti, which had been slashed by knives
A 17th-century clock crafted by Balthazar Martinot, watchmaker to the French king Louis XIV, was also returned to the presidential collection after being repaired in Switzerland.
January 8, 2023 "was an extremely sad day for Brazilians," said Shirley Altoe, a teacher and Lula supporter attending the ceremony.
"It was an aberration, something unimaginable, it really hurt my heart. We are here to defend democracy, this must not happen again," she added.
To date, 371 people have been convicted of their involvement in the January 8, 2023 riots in Brasilia, whether as direct participants, financiers, or instigators.
Bolsonaro, who was in the United States that day, is under investigation for his role as an instigator of the riots.
Prosecutors are also weighing whether to charge him for his alleged involvement in a coup plot to prevent Lula from taking office.
Police have further alleged that Bolsonaro was "fully aware" of a plot to assassinate Lula.
