The bird, which was healed, wanted to go home to the jungle.

Ooh great question! Are you doing relative clause practice? The trouble is there's a mistake in the first part! The first part should be: The bird was healed. It wanted to go home to the jungle. So if we change this mistake repeated in your second sentence, then it's correct! "The bird was healed. It wanted to go home, which is in the jungle." or, like Carol has shown, you can make the other part the relative clause "The bird, which was healed, wanted to go its home in the jungle." This is a much more natural way to say it.