Julio Cesar had not trained at full strength since getting hurt against Zimbabwe on June 2 when he fell awkwardly while trying to reach for a ball. He was replaced midway through the first half.
The goalkeeper had practiced with the rest of the group, but in reduced intensity. On Thursday, he returned to guard the net and participated in all drills without any apparent problems.
Doctors have been downplaying Julio Cesar's injury and say he will be fit for Brazil's opener against North Korea on June 15.