Miller was officially listed as having limited participation.
"It's not fun to sit out, so it's great to be back," the 31-year-old said.
The depleted Bears offense badly needs Miller, who caught a career high 34 passes for 439 yards and five touchdowns in 2015.
All five of Miller’s touchdowns occurred in the final eight games he played. His 87-yard touchdown catch Week 10 at St. Louis is the second-longest reception by a Bears tight end and tied for the seventh-longest overall in franchise history.
Miller also made one of the top plays of the season a game earlier when he hauled in the winning 25-yard touchdown catch in the fourth quarter at San Diego.
ESPN’s 2016 Fantasy Projection for Miller is 60 catches for 655 yards and four touchdowns.
Head coach John Fox said the plan is for Miller to practice again Sunday.
"He'll go tomorrow and then when we get to Providence [Rhode Island, for joint practices with New England] we'll determine what he'll do next week," Fox said.
With Miller and undrafted rookie Ben Braunecker (ankle) out of commission lately, veteran tight end Tony Moeaki is making a strong push to crack the 53-man roster. Moeaki made several nice catches in full 11-on-11 drills Saturday.
Meantime, receiver Eddie Royal (concussion) stretched with the team but did not participate in Saturday’s session. Royal did, however, work out and run routes prior to Thursday night’s first preseason game at Soldier Field.