The team's emotional leader visited the locker room and practice at the Under Armour Performance Center for the first time since beginning to rehab his injury.
"It's truly great to be back with my teammates. I've really missed these guys and the feel of being around the team and in the locker room," Lewis said in a team-issued statement. "I am focused on rehabbing and getting my arm and body as strong as they can be. I will speak in person when I know a little more about my progress. I'm working hard and looking forward to coming back and helping this team. But right now, the focus should be on the guys playing, and I'll be the biggest cheerleader I can be for them."
Update: Coach John Harbaugh spoke about Lewis' return to Baltimore after Friday's practice.
Asked whether he knew Lewis would be stopping by, he said, "I didn't know. I didn't know that. I was just walking to a drill there, and he came walking out. I was like, 'Hey! There's my friend.'
"It was great to see Ray. All of sudden, I looked back and there was Ray Lewis. He's here. He's doing well. (He) gave a great talk. Probably wouldn't share the details of that, but I can tell you it was very inspiring, as always. It's good to have him back around."
Harbaugh declined to talk about how Lewis is feeling and the linebacker's rehab.
"I'm probably just not going to comment on it really, in all seriousness," Harbaugh told reporters. "That's his thing. ... There is no way for us to know enough about how far along he is or how he's doing. We will just have to see how it goes here in all honesty and see how he does.