Venus Williams has returned to grand slam action at the age of 42, winning alongside Jamie Murray in the Wimbledon mixed doubles.

The five-time singles champion bowed out in the second round of the singles at Wimbledon last year and has only been involved in one other match since, which has sparked talk of retirement.

But a surprise wildcard announcement earlier in the week saw the American back on the London lawns and teaming up with Murray, three years since their siblings Serena Williams and Andy Murray paired up in SW19.

And a 6-3 6-7 (7-3) 6-3 victory over Michael Venus and Alicja Rosolska on Friday ensured the pair continued to fly the family flag at Wimbledon after Andy and Serena made early exits from the singles.

The elder Williams sister partnered Australian Nick Kyrgios at this tournament in 2021, but failed to play at all during the opening six months of this year and went on to miss the Australian Open and Roland Garros for the first time in a decade.

With the scheduled No.1 Court action finished by 7pm, it allowed for one of the sport's most decorated stars to return on one of the biggest stages.

A party atmosphere developed and a Mexican Wave delayed the beginning of the eighth service game in the second set.

It failed to distract Williams, who embraced her partner at the net after the match to celebrate yet another successful result at Wimbledon.

Five of Williams' major singles titles came at Wimbledon. She has also won 14 grand slam doubles titles, all with sister Serena, including six at the All England Club.

In addition, she has two major titles in mixed doubles.

"(Entering) it was definitely super last minute," said Venus. Just inspired by Serena."

Murray, who had been asked by the Williams camp whether he wanted to play doubles with Venus, said at their joint news conference: "I think you played great. Like, she hasn't played for a long time.

"First match, big court, a lot of people. It's not easy. It was a great experience (to) play with Venus Williams. When am I going to get the chance to do that?"

Venus said she had "no plan to play. I saw the grass and I got excited ... I haven't played in a year so you don't know what you're going to get."

In grand slam tournaments, Jamie Murray has won two doubles titles and five mixed doubles titles.

Venus echoed her sister's post-match comments when asked what's in her future.

"You never know where I'll pop up," she said.