The veteran shot-stopper had been dealing with recurring calf issues in recent weeks, but his comeback to training on Monday is a timely boost for Germany as they step up preparations for the 2026 World Cup.
Neuer's focus now is on building full fitness ahead of Germany's next World Cup warm-up match against the United States on Saturday at Soldier Field in Chicago, Illinois.
In his absence, Oliver Baumann stepped in during Germany's 4-0 friendly win over Finland on Sunday, delivering a composed performance.
On Monday, Alexander Nubel and training goalkeeper Jonas Urbig also featured in a reserve match, which Germany won 1-0, giving Julian Nagelsmann further options in goal.
Nagelsmann is expected to ease Neuer back into full workload, with the Bayern Munich keeper still widely regarded as Germany's number one when fully fit. The main concern will be how his calf responds as training intensity increases in the coming days.
Following their final friendly, Nagelsmann's side will head into the group stage of the World Cup, where Germany are strong favourites to progress from Group E, which includes - Curacao, Ivory Coast and Ecuador.