Roethlisberger was suspended by the NFL in the wake of a police investigation of an alleged sexual assault involving a 20-year-old female college student at a Georgia night club in March.
Prosecutors said the Steelers' signal-caller wouldn't be charged because of insufficient evidence to prove the allegations beyond a reasonable doubt, but NFL Commissioner Roger Goodell suspended Roethlisberger four games for violating the league's code of conduct.
"It's good to see coaches and be around my teammates," Roethlisberger told the Pittsburgh Post-Gazette after his arrival in the Steelers' camp. "I'm just excited to be back and get focused on football, focused on this year and try to get to Dallas."
The Steelers have gone 3-1 in the quarterback's absence. The team won its first two games under Dennis Dixon and split the next two under Charlie Batch after Dixon suffered a season-ending knee injury.
"I'm not coming in trying to be anything more than what I am," he said. "Just trying to be helpful, be a teammate, and do whatever I can to help this team win football games."