Dareus missed the final two weeks of organized team activities after he was taken into custody following an alleged street race. Coach Doug Marrone did not specify where Dareus was during that time, only saying that the Pro Bowler was dealing with "personal issues."
The Bills will not make Dareus available to reporters during minicamp, saying they want him to "focus on football."
Dareus is scheduled to appear in a Hamburg, New York court on July 1.
Meanwhile, the Bills had two players missing from their first minicamp practice Tuesday. Tight end Scott Chandler was excused for a family matter, and offensive tackle Cordy Glenn sat out with an illness.
"The season is long. When you have some years under your belt, you don't want it to be repetitive. You don't want to seem like you're going through the motions, the same thing over and over again," Lawson said. "It was good to step away, spend time with the family, go visit your family. Relax -- still work out in my time off -- but step away from the game and come back to it and it's all new and fun again."
Rookie offensive tackle Seantrel Henderson, a seventh-round draft pick, did not practice Tuesday for what the team called travel-related issues.
Wide receiver Marquise Goodwin left practice with trainers and did not return. He did not suffer an obvious injury during practice.
The Bills had three players trying out during Tuesday's practice: wide receiver Tori Gurley, cornerback Kamaal McIlwain, and cornerbck Sam Miller.