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Featured Image Credit: Alamy/BBC Sport
Varane, 29, signed for Man United last summer, but made just 22 appearances in the Premier League last season following an injury-hit campaign.
The Red Devils finished in sixth place and failed to win any silverware while the Spanish giants won the La Liga title and the Champions League.
But the France international has dismissed claims he made the wrong choice in signing for the Old Trafford club.
Asked if he regrets joining Man United, Varane told BBC Sport: "No, absolutely not.
"In football, you have to challenge yourself and try to improve. I wanted to live another experience after 10 years in the same place.
"The Premier League is absolutely fantastic and Manchester United are a great club. There was no doubt about my decision."
Varane will play under his third manager at Man United next season, with Erik ten Hag at the helm following his appointment.
And he believes his team have 'great potential' under the Dutchman following their impressive pre-season form.
"It's a new season. A new start," added Varane.
"Confidence is important and we lost confidence when we lost some games. But I think we have great potential.
"The new manager is very positive. He wants this energy and to press high up the pitch, with more space behind our backs. That is maybe more offensive but it is football we really enjoy, so that is a good start."
With the addition of Lisandro Martinez, Varane could have a new centre-back partner for the 2022/23 season.
But, regardless who starts at the back, he believes competition is good for the team.
"Competition is good for the team," he said. "Harry is a very important player for us. He's the captain and obviously he has a lot of good qualities.
"The team will always be better with this competition. Every great club is like this. If everyone wants to fight for the team, that's a good thing."