Here is how Shifu returned in Quest for Canterlot.
Canterlot is saved when everyone rejoiced after a great battle.
Princess Solarna: Yeah, Canterlot is saved.
Sunset Shimmer (Human): And not a moment too soon.
Princess Yuna: We did it!
Princess Luna: Well done, Everyone and Everypony!
Dipper Pines: Yeah, We did good. Didn't we?
Mabel Pines: And with some help from our new friends.
Gizmo: (hugging Dipper) I love you, Dipper.
Dipper Pines: Love you too, Gizmo.
Johnson: We're so proud of you, Jennifer.
Jennifer: Thank you, Father.
Stanley Pines: Wait! Where's Shifu?
Everyone were beginning to worry about Shifu.
Meanwhile, Shifu was walking his way to Canterlot.
La Muerte: (narrating) What Yuna and her friends didn't know, Is that Shifu survived the fall.
Shifu: (smelled the fresh air and breathed heavenly)
La Muerte: (narrating) Good magic never really dies.
Shifu arrived in Canterlot.
Back at Canterlot, Shifu made it to see Yuna and her friends.
Everyone: Shifu!
Princess Yuna: We're so happy to see you again.
Po: We thought you were dead!
Shifu: Dead? No, I happen to survive many things.
Lisa Simpson: Are we ever glad you're here.
Rudy Kangaroo: Aren't we all.
Jennifer: If you were here to see this.
Shifu: I have seen this, I knew you would do what you can to save Equestria.
Hooves: So, This is what it feels like to have an adventure.
Princess Yuna: You bet, Hooves.
Sunburst (Human): A chance of a lifetime.
Bart Simpson: Right on, Man.
Then, Yuna brought out the Journals together.
Jennifer: Yuna, I'm glad to be part of your group.
Phineas Flynn: So are we.
Ferb Fletcher: Especially with some old friends.
Silver Fashion: Best Celebration Ever!
Littlefoot: You said it, Silver Fashion.
Yuna felt very proud to have new members of her group.