The Brazilian has been out since the end of August, when he picked up a thigh injury in the 2-2 draw with Manchester City.
Lucas is not fit enough to make the squad for Saturday's Premier League visit of Wigan but could figure in the Europe League clash with Young Boys next Thursday.
The 25-year-old said on Twitter: "Happy to be back and feeling good", before adding: "I hope I will be available soon."
Lucas has had a bad run with injuries, missing the majority of last season after damaging his anterior cruciate ligament.
During his latest spell on the sidelines, Liverpool have slumped to 13th in the Premier League.