Cancelo, 27, suffered cuts to the face after attempting to fight off a gang of four intruders at his home in December.
“My family didn’t deserve to go through that,” said the Portugal international, speaking to the media for the first time about the incident.
“That’s life, it happens in life. I had to continue.”
Cancelo was able to play in City’s 2-1 win at Arsenal on 1 January – two days after the attack after being assessed by the club’s medical staff.
He posted an image of his injuries on Instagram just hours after the frightening episode.
“Unfortunately today I was assaulted by four cowards who hurt me and tried to hurt my family,” wrote Cancelo.
“When you show resistance, this is what happens. They managed to take all my jewellery and leave me with my face with this state.”