Dempsey suffered a bicep injury in Scotland's 31-20 victory over England at Murrayfield on February 14 and missed the 26-23 win away against Wales in Cardiff one week later.
Scotland coach Gregor Townsend had said he had expected the 31-year-old Australian to be unlikely to play any further part in this year's Six Nations, where the team face France at Murrayfield in a top-of-the-table clash on Saturday and then complete their campaign away against Ireland on March 14.
However, Dempsey returned to training with Scotland on Friday, his Glasgow Warriors coach Franco Smith revealed, heightening his chances of a quick return.
"It's gone well," Smith said when asked about the injury to the No.8 after Glasgow lost 15-10 to Connacht in Galway in the United Rugby Championship on Saturday.
"I don't know if you've had any news from Scotland, he's obviously now in their books. But he got called into camp yesterday, apparently he trained already with them yesterday, so that's good.
"That obviously tested the fitness and I'm quite excited to know that that injury is manageable," he added.
Dempsey, who won 14 caps for the Wallabies before being able to switch allegiance to Scotland in 2022 through his maternal grandfather, has become a regular in the blue shirt and played for them at the last Rugby World Cup in France.
