This was the first time Firmino trained after Liverpool's Champions League Final loss to Real Madrid on May 26 in Kiev.
The Brazillian squad has been training in the Tottenham Hotspur's academy to prepare for their Sunday's clash against Croatia.
While Tuesday morning's session was devoted to fitness, the afternoon practice saw coach Tite divide his players into two sides for some tactical drills, Brazil's CBF football federation said.
The coach had Taffaral and Sylvinho send crosses into the box in quick succession to give his defenders practice dealing with set-pieces.
A week after the contest with Croatia, Brazil will face Austria in Vienna in their final friendly before heading to Russia for the 2018 World Cup.
Five-time winners Brazil are seen as one of the favorites heading into the tournament, where they are drawn in Group E with Switzerland, Costa Rica, and Serbia.