Brown didn't participate in practice but walked across the field with his agent as the session ended. Cameras from HBO's "Hard Knocks" followed him.
Brown lost his grievance to wear a helmet no longer approved by the NFL on Monday but announced he'd rejoin his teammates on the field.
The All-Pro receiver has sparsely been seen at Raiders training camp as he battles the league's helmet rule and injuries to his feet.
Players are prohibited from practicing or playing while wearing a helmet that's no longer certified by the National Operating Committee for Standards and Athletic Equipment. Brown's preferred helmet is a 10-year-old model, but he'll be allowed to wear the same helmet if he can find one that is less than 10 years old.
Brown turned to social media to help him with his search for a newer version of his old helmet: