Welbeck did not come off the bench in Wednesday's friendly against Republic of Ireland because of a knee injury.
The Manchester United striker took part in the warm-up part of today's get-together, which took place at the Urca military base in Rio, but he sat out the rest of the hour-long open session.
Fellow striker Jermain Defoe is carrying an Achilles problem but he took part in the entire session, which was good news for manager Roy Hodgson, who has already seen Andy Carroll, Daniel Sturridge, Tom Cleverley and Kyle Walker withdraw from the squad to face the Brazilians.
Around 500 spectators watched Friday night's event, which took place in the shadow of Rio's iconic Sugarloaf Mountain.
Fifty male and female members of the British military, who will play a match against their Brazilian counterparts before the main event at the Maracana, posed for pictures with the England squad and management.
- Sports & Recreation
- Jermain Defoe
- Manchester United
- Daniel Sturridge
- Tom Cleverley
- Andy Carroll