Valentino Rossi was experiencing 'a little bit of pain' under heavy braking as the Movistar Yamaha rider returned to action at Motegi in the wake of a jarring crash at Motorland Aragon.

Rossi injured his finger at the Spanish circuit when he came off at the previous round but opted to ride without any pain-killing injections as he finished FP2 in a strong fifth, setting his best lap in 1m 45.890s to end the session 0.750s down on Ducati rider Andrea Dovizioso.

"I feel good on the bike and don't have any particular problems. I have some small pain with the finger, especially when I brake there is a little bit of pain but I am optimistic, I can brake in a good way and I'm comfortable, I'm just in a little bit of pain," Rossi said.

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"In general the first day was not so bad, it was good practice and I'm quite satisfied. We still have to work a lot, because we still haven't found the right balance but fifth position is not so bad. I have a good pace and it looks like the Yamaha works well here in Motegi."

Rossi was quickly into his stride in FP1 in the morning and led the session twice before finishing in second position behind team-mate Jorge Lorenzo, 0.346s adrift.

The Yamaha star is third in the MotoGP World Championship standings but is only three points behind Repsol Honda's Dani Pedrosa.