"I was a little rusty, but it felt good," Vincent said.
Vincent, on the disabled list since June 12 with right shoulder fatigue, threw a 30-pitch bullpen session and will likely begin a Minor League rehabilitation assignment Monday.
"Everything felt good," said Vincent, who threw his fastball, curveball and changeup at game speed.
San Diego manager Bud Black watched Vincent's session and was also encouraged with how the righty looked.
"His stuff was crisp, and he used all of his pitches and simulated some at-bats against lefty and righty hitters," Black said.
If Vincent feels fine Saturday, he'll likely join Class A advanced Lake Elsinore on Monday to officially begin his Minor League rehabilitation stint.
Vincent had a 1.54 ERA in April but struggled in May (4.50) and June (nine earned runs in 2 2/3 innings) before heading to the disabled list.
Also on Friday, first baseman Tommy Medica, who left Thursday's game with tightness in his right groin, was not available for the game. There's a chance he might not play in the team's final two games before the All-Star break.
"It's feeling a little better today, but it's still a little tender," Medica said. "It's tight. We'll see. It's day to day."
Jake Goebbert got the start at first base Friday. The Padres are likely deliberating if they need to add a player for the final two games before the All-Star break.
Corey Brock is a reporter for MLB.com. Keep track of @FollowThePadres on Twitter. This story was not subject to the approval of Major League Baseball or its clubs.