McMillan, who returns to starting duty following a double knee operation, is eager to win trophies with Glasgow as he only needs a Magners League medal to complete a full-house of honours having already lifted the Heineken Cup and Guinness Premiership title with his previous club, London Wasps, and the Anglo-Welsh Cup with Leeds Tykes (now Leeds Carnegie).
On his ambitions with Glasgow, McMillan said: "Players are judged on winning, trophies and success. I'm desperate to win the Magners League and get all four medals hanging on my wall.
"However, if we are to challenge for the league now or in the future, we have to be able to beat teams like Cardiff who have proven to be tough opposition at the Arms Park. A win over Cardiff will help us toward realising that goal. It's really exciting times at Glasgow right now."
On his period in the treatment room, he added: "It's always frustrating when you're out.
"It takes some time to get over the transition period when you join a new club and I feel the injury was a real stumbling block. I'm looking forward to getting back to where we were in terms of what the coaches and the other players expect from me."
The all-international front-row features Moray Low who is fresh from winning his first cap for Scotland against France at the weekend. His opportunity to come off the bench at the Stade de France has whetted his appetite for further honours and a place in the match 22 for Scotland's next big game - against Italy at Murrayfield on Saturday 28 February (kick-off 3pm).
He said: "It was an awesome experience to run onto the field at the Stade de France in Scotland colours. It's been a lifelong ambition to play for my country and I am honoured to have been given the opportunity.
"My next goal is to do what every young Scottish rugby player aspires to, to play for Scotland at Murrayfield.
"We saw an improved performance against France and I feel we can still come good in the Six Nations. Our next big chance is against Italy and I'm looking to tomorrow night's game against Cardiff to help put my hand up for a place in next weekend's 22."
Glasgow wing/fullback, Colin Shaw, will make his first start for the Warriors this season following his involvement with the Scotland 7s team on the first four tournaments of the IRB Sevens World Series.
Shaw lines up in a new-look back division which sees young Glasgow starlet Ruaridh Jackson partner Argentina's all-time record try scorer, Jose Maria Nunez Piossek, in the centre.
On the bench, West of Scotland fullback Peter Horne has been registered for this match and could make his professional debut for the Warriors having already impressed in numerous outings for the back-up squad.
A product of Howe of Fife RFC, who recently picked up the SHE Club of the Month Award for January, Horne scored all of Scotland's points in their first ever victory over Wales at U20 level earlier this month.
Glasgow Warriors team to play Cardiff Blues in the Magners League at the Arms Parks on Friday 20 February (kick-off 7:05pm)
15 Bernardo Stortoni
14 Hefin O'Hare
13 Jose Maria Nunez Piossek
12 Ruaridh Jackson
11 Colin Shaw
10 Dan Parks
9 Mark McMillan
1 Justin Va'a
2 Dougie Hall
3 Moray Low
4 Dan Turner
5 Alastair Kellock CAPTAIN
6 Stevie Swindall
7 Kelly Brown
8 Johnnie Beattie
Substitutes
16 Fergus Thomson
17 Ed Kalman
18 Opeta Palepoi
19 Calum Forrester
20 Colin Gregor
21 Chris Kinloch
22 Peter Horne *
* = Member of Scottish Rugby's Contracted National Academy
Guinness PRO12
Suite 208, Alexandra House,
The Sweepstakes
Ballsbridge, Dublin 4, Ireland