John Stamos -- Slays 'Fuller House' Taping ... with DUI Joke

John Stamos returned to work with a vengeance to kick off "Fuller House" ... and even cracked a joke about his DUI arrest.

Audience members went crazy as Stamos stepped out on set as Uncle Jesse ... a day after he left rehab. TMZ broke the story, Stamos was busted for DUI in Beverly Hills last month and he was so bad off he was taken to the ER. But 30 days in rehab for substance abuse did him well.

Stamos told the audience about a scene they couldn't shoot because the prop car didn't show. John joked, "Well, I have a car ... but I can't drive."

It brought the house down.

As for the rest of the taping ... we're told John nailed every scene.

Have mercy.