The 21-year-old, who finished 17th in Formula Renault 3.5 this year with Carlin, took part in the test due to his backing from the Petronas Talent Development Programme, as the Malaysian firm is Mercedes' title sponsor in F1.
While the test was completed using a 2011 car on demo tyres, it was Jaafar's most significant F1 mileage to date as he previous experience consisted of a street demo in his home country and a filming day for the team.
"On the two other occasions I have driven this car I was limited," Jaafar said. "This was different.
"I have worked through a schedule of development with myself and the car which has meant that I've been able to really start to understand it, build a relationship with the engineers and get to grips with the handling.
"It's such a great car to drive, so responsive, amazing brakes, so agile. It's just such a buzz.
"I would like to give a huge thanks to Mercedes for giving me the opportunity and to Petronas for their loyal support.
"It has been a very special day which I will remember for a very long time."
JAAFAR'S CAREER HIGHLIGHTS
2013 17th in Formula Renault 3.5
2012 2nd in British F3
2011 6th in British F3, 7th in FIA F3 Trophy
2010 12th in British F3
2009 9th in Formula BMW Europe
2008 5th in Formula BMW World Final, 14th in FBMW Europe
2007 Formula BMW Asia champion
2006 3rd in Formula Renault Asia
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