A knee injury prevented Nelson from helping McGregor, 30, train for Nurmagomedov, 30, as the two rivals met at UFC 229 for the lightweight world title.
McGregor would go on to be defeated by fourth round submission and talking to MMA Fighting, Nelson, 30, revealed he feels guilty for missing the camp.
Nelson said: “When the whole [camp] was starting, I wasn’t training, I couldn’t do much and it seemed like Conor has a pretty good team around him, as usual.
“After the fight I was thinking, ‘Man, I should’ve been there,’ and I was saying that to my coach John [Kavanagh].
“He said to me, ‘To be fair, you were hurt, you couldn’t really train.’
“It would have been only the last bit of the camp that I would have been able to take part in, I guess.
“Definitely, for the rematch, I will be there with Conor getting ready.”
Nelson’s injury kept him out of a high profile welterweight fight against Neil Magny at UFC Liverpool in May.
However, the Icelandic is fully recovered now as he topped off his comeback with a win against Alex Oliveira at UFC 231
After McGregor was defeated by Nurmagomedov, a post-fight brawl broke out between the two camps.
Both lightweights were handed suspensions by the Nevada State Athletic Commission with their fate set to be decided at a hearing on January 29.
McGregor has teased a comeback with a string of social media posts training in Ireland.
The former two-weight UFC champion has also been linked with Dustin Poirier and Donald ‘Cowboy’ Cerrone as potential comeback opponents.
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