Jorge Lorenzo remained on top during free practice on Friday at Valencia as he headed Marc Marquez by two tenths in FP2.

Lorenzo, a winner at the Spanish track last year as he clinched his third MotoGP world title, has made a strong start to the weekend as he builds towards his final race for Yamaha ahead of his impeding switch to Ducati for 2017.

He clocked a fastest lap of 1m 30.463s late in the afternoon to hold off world champion Marquez on the Repsol Honda, who had held sway for much of the session. Lorenzo's time was some six tenths faster than he managed in cooler conditions in FP1.

Maverick Vinales slotted into third on the Ecstar Suzuki GSX-RR, lapping in 1m 30.775s as he ended the day within three tenths of Lorenzo's benchmark.

Pol Espargaro was next on the Monster Tech 3 Yamaha in fourth ahead of Sepang winner Andrea Dovizioso (Ducati), with Aleix Espargaro rounding out the first six on the second of the Ecstar Suzuki machines following a lap in 1m 31.186s.

Andrea Iannone, who made his return from injury at Sepang, was seventh quickest in FP2 on the factory Ducati ahead of Valentino Rossi (Movistar Yamaha), who was almost eight tenths back on team-mate Lorenzo following a lap in 1m 31.257s. Rossi had earlier finished second fastest behind Lorenzo in FP1.

Danilo Petrucci, locked in battle for the GP17 ride with his Pramac team-mate Scott Redding for 2017, was ninth fastest ahead of the returning Dani Pedrosa on the Repsol Honda, who lapped in 1m 31.358s to post the tenth fastest time.

LCR Honda's Cal Crutchlow headed a British one-two in 11th ahead of Redding, with Hector Barbera ending the day in 13th on the Avintia Ducati.

Aussie Jack Miller was 14th on the Marc VDS Honda ahead of Ireland's Eugene Laverty (Aspar Ducati), who will be making his final MotoGP appearance this weekend before returning to World Superbikes on a factory-backed Aprilia.

Laverty nosed ahead of factory Gresini Aprilia riders Stefan Bradl and Alvaro Bautista in 16th and 17th places respectively.

Mika Kallio, riding the KTM RC16, was 22nd after a lap in 1m 33.574s, which was 3.1 seconds slower than pacesetter Lorenzo and nine tenths behind Tito Rabat in 21st.