The Belgium international put in a transfer request last week and has been linked with a move to Tottenham.
Benteke was allowed to miss the club's three-match tour of Germany by Villa manager Paul Lambert and there was some doubt as to when he would return.
But he is back in the West Midlands and with his team-mates as they continue their pre-season preparations ahead of the new Premier League campaign.
Benteke joined Villa from Belgian side Genk for £7m in August and scored 23 goals in 39 matches as he made an immediate impact during his first season in English football.
Villa confirmed earlier this month that Benteke had asked to leave the club, but rejected claims at the time the powerful forward refused to travel on the pre-season trip to Germany.
A club statement last week read: "In response to reports that Christian Benteke has not travelled to Germany with the club and has made a transfer request, we can confirm that both are accurate.
"For clarity's sake, however, he had already been given extra time off until July 18 and was reminded that there are three years remaining on his contract.
"We consider him to be a Villa player and expect that he will be with us for the 2013-14 season.
"Having received his transfer request, we have also informed him that should we receive an offer within an appropriate timeframe during pre-season which meets our valuation we would act upon it. But he will remain a Villa player should this not happen."
Villa manager Paul Lambert has expressed his disappointment at Benteke's request, but remains hopeful that the player will stay at the club.
Lambert said: "While we're hugely disappointed that Christian has put in a transfer request, it's important that people appreciate we are trying to build something strong and vibrant here at the club, something this club demands and stands for, and we want Christian to be part of that."