Woods is scheduled to make his long-awaited return to golf next week at the Hero World Challenge after being out with injury since February.
Woods and Nadal are known to be admirers of each other with the golfer sitting in the tennis star’s box as he won the US Open in September.
Nadal is a keen golfer himself when he is not competing on the ATP Tour.
And he hopes Woods will finally feel healthy enough to compete at the top once again.
Nadal told Spanish outlet Marca: “If he is able to train what he wants to train, he will compete again.
“I do not know how far because nobody can know, it remains to be seen.
“[But I hope he can] compete week after week, fight for important things.”
Earlier this week, world No 12 Jason Day revealed Woods feels he is in the best shape he’s been for three years.
He said: “I did talk to him and he did say it’s the best he’s ever felt in three years.
“He doesn’t wake up with pain anymore, which is great.
“I said to him, ‘Look, it’s great to be one of the best players ever to live, but health is one thing that we all take for granted and if you can’t live a happy, healthy life, then that’s difficult.’
“I totally understand where he’s coming from, because sometimes I wake up in the morning and it takes me 10 minutes to get out of bed, and for him to be in pain for three years is very frustrating.”