The French midfielder, who has endured a frustrating spell on the sidelines, told head coach Xabi Alonso that he is "feeling good" and has suffered no further discomfort.
Camavinga, 21, has yet to feature for Madrid this season after a series of injury setbacks. However, his involvement in Monday's session was a significant sign that his comeback is close.
The club confirmed in an update that both Camavinga and Jude Bellingham "participated in some exercises on the pitch and then worked alone in the gym and with physiological work."
The session marked the beginning of preparations for this weekend's La Liga clash against Real Sociedad. While it remains uncertain if Camavinga will be ready to feature, Madrid staff are optimistic that he is now in the final stage of recovery.
After the training, Camavinga personally reassured Alonso of his condition. "I'm doing very well, feeling good and I haven't had any discomfort," he said, offering his coach and teammates encouragement ahead of a demanding run of fixtures.
Inside the club, there is growing excitement over his return, with many considering him a vital reinforcement in midfield. Alonso, who has long admired Camavinga's versatility and energy, is expected to play him in a central role as he reshapes Madrid's midfield.
Camavinga is also aware of the importance of this campaign as he looks to cement his place in Alonso's plans. With Madrid chasing success on multiple fronts, his return could not come at a better time.
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Real Madrid manager Xabi Alonso has often spoken about the coaches who shaped his journey from midfield maestro to successful tactician, but he has credited former Wales boss John Toshack as the man who changed his career.
