Wearing a golden silk sari, the film star was seen sitting next to social worker Anu Aga. Both are nominated members in the upper house.
The 59-year-old Bollywood veteran was seen talking with Aga and the two left the house shortly before it was adjourned for lunch. Rekha's absence from the house, along with cricketer Sachin Tendulkar came under criticism last week.
Tendulkar made an application for leave on Monday, and was granted permission to be absent even as some members protested.
Rekha, before her appearance on Tuesday, had only seven days attendance since she was nominated to the Rajya Sabha in 2012. She had last attended the house Feb 19, 2014.
As per Article 104 of the constitution, if a member is absent from either house of parliament for a period of 60 days then the seat is considered vacant.