The United and England star shared a laugh with his team-mates at Carrington as he trained with the group after shaking off an injury that kept him out of their win over Fulham.
His return comes after what has been a tumultuous week, which saw him upset manager Erik ten Hag after he went out clubbing just hours after United's Manchester derby defeat by City.
The Dutchman called the 26-year-old's decision 'unacceptable' but revealed Rashford had apologised for the error and the matter was now resolved.
He also faced criticism from supporters on social media after a video went viral of him not acknowledging fans at the train station as Manchester United players began their journey to London for the clash at Craven Cottage.
Marcus Rashford was all smiles as he trained with his Man United team-mates on Tuesday
The 26-year-old cut a relaxed figure as he wrapped up warm for the training session
His return to training comes after what has been a tumultuous week, which saw him upset manager Erik ten Hag (left) after he went out clubbing after the Manchester derby defeat
Rashford did not feature in United's 1-0 win over Fulham on Saturday as Ten Hag revealed before the game that the England star had picked up a slight injury.
The forward also faced criticism from many quarters due to his drop off in form this term was forced into responding to a United fan channel who raised questions about his future at the club.
Well known United fan channel The United Stand then published a video on Monday titled: 'Rashford's future in doubt?'
Rashford did not take well to a video and hit back in a reply on X, writing: 'Please STOP spreading malicious rumours.'
Rashford enraged his manager by going to Chinawhite nightclub (entrance pictured) after their Manchester derby drubbing last month
But Rashford looks to have put it behind him, with Ten Hag revealing the striker has apologised
In a description of their video on YouTube, the United Stand wrote: 'Given Rashford's injury against Fulham and his recent subpar performances, the question arises: should he still be a regular starter for Manchester United.'
Rashford travelled with the squad to the Fulham game, which came just days after his grilling for celebrating his 26th birthday out in Manchester city centre.
Faz from the United Stand in the video said: 'He's travelled with the squad but not been used (against Fulham). To travel with the squad all the way to Fulham not to be used is very interesting and I'm not buying it.'
He added: 'I think it might have been a form of punishment from Erik ten Hag. At the moment everyone can agree Marcus Rashford's body language when he's going to games, he doesn't look like he's happy.
'I don't know if he fully wants to be here. Where his commitment is. Does he really want to play for Manchester United?
Rashford hit out at a United fan channel, asking them to 'STOP spreading malicious rumours' in a post on social media
'The numbers he put up last season - it's a big change. How can you go from a 40+ G/A (goals and assists player) to the level he's at now.'
After the Manchester derby drubbing, Rashford came off the bench in the following 3-0 defeat to Newcastle in the Carabao Cup.
Since that came to light Rashford has kept a low profile, as he didn't go out with the players following their victory over Fulham at the weekend.
Despite outside concerns over his form, Ten Hag told club channel MUTV that he is 'sure that he will be back on track'.
He added: 'I see him in training performing so well so I think that before long, he will be back on track. He will make a lot of goals for us and he will be so very important for us.
United gear for their trip to Denmark where they'll face Copenhagen in the Champions League
Along with Rashford's return, Victor Lindelof (middle) was also spotted training with the group
'Once we find our rhythm, once the team finds its rhythm, it is also easier for him.'
Rashford has score only once in 14 appearances across all competitions thus far in stark contrast to his 30 goals for his boyhood club during Ten Hag's debut season at Old Trafford.
Along with Rashford's return, Victor Lindelof was also spotted training with the group after overcoming illness as they prepare for their trip to Denmark where they will face Copenhagen again in the Champions League.
United are currently third in Group A, sitting on three points after three games, trailing Galatasaray in second by just a point.
Harry Kane's Bayern Munich are top of the group, having won all three of their opening group stage games.
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