Lewandowski doubled the lead shortly afterwards, smashing the ball in from the edge of the area after a sharp cross from Leon Goretzka. "We knew that the first game after the worldwide break would be really important", Lewandowski told Sky.
Bielefeld, previously unbeaten in 10 home games in 2020, did manage to pull one back on the counter just before the hour mark through Doan's shot across Manuel Neuer.
The reigning champions, who suffered a heavy defeat by Hoffenheim in their last league game, climbed to second in the table and next face Atletico Madrid in their opening Champions League group game on Wednesday.
"They've always made it hard for us here in recent years".
Haaland was initially rested after he played three times for Norway in the previous two weeks, prompting criticism of the busy global schedule. "We showed we wanted to win this from the first whistle on", Lewandowski said.
Victory for Bayern - their second in a row in the league since suffering a shock 4-1 loss to Hoffenheim in their last away match - moves them to within a point of leaders RB Leipzig.
"At Dortmund, we are used to having a lot of midweek games at this stage of the season".
Lewandowski scored four times in Bayern's 4-3 win over Hertha Berlin in their last match before the worldwide break and struck twice for Poland in a victory over Bosnia-Herzegovina in midweek.
"These are the games you need to win if you want to land in the top four", Leipzig coach Julian Nagelsmann told Sky.
"They're showing this season that they're up for a fight and can put together some good performances".
"We weren't good enough in the second half".
Freiburg took the lead early on through Philipp Lienhart and had a second goal ruled out for offside before Bremen's Niclas Fuellkrug levelled the scores from the penalty spot.
Elsewhere, Wolfsburg and Borussia Monchengladbach shared the spoils after Wout Weghorst's equalizer canceled out Jonas Hofmann's opener.