Firmino took part in Jurgen Klopp's first session of the squad's Marbella training camp after missing three matches with a muscle strain.
Liverpool says his reintroduction to full training "will be carefully managed under their supervision, with specialized programs planned over the coming days".
Also included in Liverpool's group is Guinea midfielder Naby Keita, who continues his rehabilitation from a serious groin problem suffered nearly three weeks ago.
And Matip is now looking for Liverpool to round off a memorable season by going one better than 12 months ago when they were beaten by Real Madrid in the Champions League final in Kiev.
"It didn't happen this time but we have the experience (of a title race) and now we are in a final, which is another target that's very important for us", he told liverpoolfc.com.
In recent years Champions League football coverage in England went from being exclusively on terrestrial television on ITV, to being split between them and Sky Sports and eventually moving exclusively to paid channels on BT Sport.
"We all know how good Spurs are - great players and on the day, they can beat anybody really". But we want to know who other fans - the so-called neutrals - are supporting, and why?
"With both European finals being all-British affairs, we're going to make them easier to watch for everyone in the United Kingdom than ever before as well as being the best-connected football viewing experience our customers have ever had".