The No.9, who will leave the club in the summer after eight seasons, has been involved in the Reds' preparations for Saturday's Premier League meeting with Aston Villa after recovering from a muscle injury.
His return comes in time for the final home fixture of the 2022-23 campaign, but fellow forward Darwin Nunez has been ruled out with a toe issue.
The encounter with Unai Emery's Villa will see those in L4 also bid farewell to the departing James Milner, Alex Oxlade-Chamberlain and Naby Keita, with the latter having been absent since March due to injury.
"As far as I know in the moment, because I don't have all the information yet, Bobby takes the place of Darwin because Darwin will not be available," Jürgen Klopp said on Friday, prior to the squad's final training session.
He then told reporters: "Darwin will not be available. It's an inflammation of a tendon at the toe – very painful obviously. He didn't train yet this week, so he will not be available for tomorrow.
"The long-term injuries are still out but all the rest should be available."
Thiago Alcantara, Stefan Bajcetic and Calvin Ramsay will remain sidelined for the 3pm BST kick-off.
Villa, meanwhile, are without former Red Philippe Coutinho at Anfield, with the Brazilian out injured for their final two games of the season.
Head coach Emery told the media on Thursday: "Philippe Coutinho is still injured, and the other players are ready to play.
"We're going to wait for the training session tomorrow morning and if everything is going well, the players available are the same players we had last week.
"Today Calum Chambers was sick but I think tomorrow he is going to be ready to try to travel with us."
Last match
Leicester City 0-3 Liverpool (May 15): Alisson, Alexander-Arnold, Konate, Van Dijk, Robertson, Fabinho, Henderson, Jones, Diaz, Salah, Gakpo.
Aston Villa 2-1 Tottenham Hotspur (May 13): Martinez, Young, Konsa, Mings, Moreno, Bailey, McGinn, Luiz, Ramsey, Buendia, Watkins.