The Brazilian winger joined his team-mates for Thursday's session at the Ciutat Esportiva Joan Gamper for the first time since picking up the injury during the international break.
Barcelona head coach Hansi Flick supervised the 11am training session, which included all available first-team players.
Barca Atletic youngster Hamza Abdelkarim also joined the senior squad.
However, Andreas Christensen and Roony Bardghji remained sidelined as they continue to deal with their respective injuries.
Barcelona will hold their final training session on Friday afternoon before travelling to Seville for Saturday's La Liga matchday nine meeting with Real Betis at La Cartuja.
Real Madrid believe Endrick has taken an important step in his development after the Brazilian forward delivered an impressive performance in a dramatic 4-3 Champions League victory over Roma.
Jose Mourinho has criticised the Spanish football authorities over their handling of Vinicius Junior's suspension after Real Madrid fought back from two goals down to beat Roma 4-3 in the Champions League.
Rayo Vallecano have been ordered to close part of their stadium and fined 6,000 euros after supporters forced their La Liga match against Athletic Club to be abandoned.
Real Madrid produced a remarkable late comeback to beat Roma 4-3 at the Stadio Olimpico, scoring three times in the final stages to snatch victory after trailing 3-1.
