The Manchester United striker missed the Community Shield win over Wigan with a shoulder problem he suffered in pre-season.
United boss David Moyes questioned Rooney's fitness, but he looked in top shape as he sped out to train at St George's Park on Monday.
The striker came out to train just after 10am, a full half-hour before England's training session was due to begin.
He did a few stretches before taking part in some shooting and passing practice with the England goalkeepers and coaching staff while the rest of the squad remained indoors before emerging shortly after 10:30am.
Rooney's future has been the subject of much speculation this summer, with Chelsea having made two bids to sign the 27-year-old.
Moyes reiterated his desire to keep Rooney, insisting the former Everton man was not for sale.