The 31-year-old, who began his professional career at Huish Park in 2006, spent the first half of the campaign with the Robins after signing in the summer.
Mutually agreeing to terminate his contract at the end of January, the versatile defender signed for the Glovers six days later and made his 122nd appearance for the club in the 1-0 defeat at Stevenage.
Alcock will now make a quick return to the Jonny-Rocks Stadium as Town head to Gloucestershire for the re-arranged Sky Bet League Two fixture.
Speaking to YTFC.net, the former Peterborough and Sheffield United defender is looking for a quick return to winning ways.
“This club means a lot to me,” he said. “It’s nice to see a lot of familiar faces but getting the team up the league is the most important thing.
“It was a bit of a whirlwind and getting thrown right back into it, but at the end of the day as a professional footballer all you want to do is play games, so hopefully I can get up to speed sooner rather than later and start putting in performances that people can remember.
“It’s not like you get given points these days in this league. Everyone is capable of putting a run together so we have to make sure we dust ourselves off from Saturday, start again on Tuesday and get some momentum.
“There’s a lot of talent in the squad so we need to try and bring it out of each other and push forward. The gaffer is trying to instill that belief in everyone and we’ve got to try and bring it out of us in games and try to get three points from now on.”