During the part of the session that was open to media, the Arsenal defender warmed up alongside other players who did not start in Monday’s 2-0 Hampden defeat by the Czech Republic
Scotland head coach Steve Clarke revealed on Monday that Tierney had picked up a “little niggle” in training but was hopeful the former Celtic player would return for Friday’s second group game against England at Wembley.
Clarke admitted after the defeat that his preparations had to change with the injury to Tierney.
He said: “We will work on him over the next few days and he has got a chance of being fit for Friday.
“Obviously we’d done a lot of work on team shape and Kieran was involved in that.
“With 48 hours to go when he picks up the little niggle that kept him out, it does take a little bit of changing, it changes the dynamic of the team.
“Kieran has been an integral part of how we have played recently but I don’t think we defended too badly.”