The winger could make his comeback from injury in Monday's Liga meeting with Celta at the Bernabeu, along with Fabio Coentrao, who has recovered from a hamstring injury.
The Wales international, whose debut season in La Liga has been repeatedly interrupted by injuries, played a full part in Friday afternoon's session in the Spanish capital. However, Madrid has yet to confirm if Bale will be named in Carlo Ancelotti's squad for Monday's Primera Division clash with Celta at the Santiago Bernabeu.
In a further boost for Los Blancos, though, left back Fabio Coentrao was also back on the training field after a month on the sidelines with a hamstring injury.
Club captain Iker Casillas missed the session to attend the birth of his first child, Martin, on Friday.