Cain commented a day after he hesitated during an interview with the Milwaukee Journal Sentinel editorial board, first saying he disagreed with President Barack Obama's decision to back Libyan rebels, then adding that he likely would have done the same.
It was the latest in a series of bumps for the Georgia businessman who has risen sharply in national GOP polls despite the setbacks.
Cain has said he paused while answering the question so he could collect his thoughts. He told his interviews he had "all this stuff twirling around in my head."
An aide later blamed Cain's performance on lack of sleep.
In Iowa, Cain did not directly mention Libya during his 30-minute appearance, his second visit to the leadoff caucus state in the past three months. He spoke briefly to the crowd, shook hands, posed for pictures. He took no questions from the audience or reporters.
Cain's stop also came on the heels of a rocky stretch that began with questions about his loyalty to opposing abortion rights a problem for influential evangelicals in Iowa.
But that issue was quickly eclipsed by the harassment allegations involving four female subordinates when he headed the National Restaurant Association in the 1990s. He denies the allegations.
Cain appeared upbeat on his return to this early voting state. He waded into the audience with a hearty "good morning" and complimented their political acumen.
"The state of Iowa is going to set the tone for this upcoming primary season. Why? Because you are informed. You are inspired, to send the message to the rest of the country about what we need to do," Cain said, drawing polite applause.
Cain remains a front-runner in Iowa, which holds its caucuses on Jan. 3, despite his stumbles and sparse campaigning here.
A new Bloomberg News poll of Iowa Republicans showed him clinging to a narrow lead in the state, with Texas Rep. Ron Paul, former Massachusetts Gov. Mitt Romney and former House Speaker Newt Gingrich closely bunched at the top.