Hamilton, who joined up with his new team following his departure from McLaren at the end of the 2012 campaign, drove alongside Rosberg during the pair's karting days 13 years ago.
"There have been no practical jokes yet, but I am sure there will be time for that," The Sun quotes Rosberg as saying.
"It's been good working with Lewis again. The memories have all come flooding back from when we were together before. It's such a long time ago now. It is like 13 years ago, but the memories come back and it feels like being back then."
Rosberg is said to have smeared Tiger Balm into Hamilton's underpants when they joined up together over a decade ago.