Midfielder Raul Meireles was also involved in the session but central defender Pepe continued to train separately, the Portuguese Football Federation (FPF) said in a statement.
According to media reports, Ronaldo did not show any limitations during the first 15 minutes of the session which were open to the media.
The World Player of the Year missed the recent friendlies against Greece and Mexico.
Ronaldo, 29, struggled with minor injuries during the closing weeks of Real Madrid's season before playing 120 minutes in the Champions League final against Atletico Madrid and scoring the final goal in their 4-1 win, with a penalty.
Portugal, who are training just outside New York, face Germany in their opening World Cup match on June 16. They also face United States and Ghana in their group.
Meireles has a problem in his left thigh and Pepe a muscular injury in his right leg.
(Reporting by Brian Homewood, editing by Tony Jimenez)
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