The Verkhny Lars border crossing, through the Caucasus mountains, is effectively the only safe land crossing between Russia and Georgia.
The others run through the Russian-backed rebel regions of Abkhazia and South Ossetia.
Customs and police officials have taken up their posts at the Danali checkpoint in Verkhny Lars.
Travelers pass through the police and customs point before crossing the actual border.
Russia closed the crossing in mid-2006 as relations soured between Moscow and Georgia´s pro-Western government.
That claimaxed in a five-day war in August 2008, when Russia crushed an assault by U-S ally Georgia on South Ossetia.
The checkpoint reopened to vehicle traffic, but travellers from both countries will need visas to cross the border.
Russia cut air links with Georgia over the war, and Georgia severed diplomatic ties when Moscow recognised the rebel territories as independent states.
In his annual address to parliament, Georgian President Mikheil Saakashvili predicted normal relations with Russia would resume.
But he said Georgians would not submit to becoming "provincial vassals," and that they would cooperate with Russia as "free Europeans."
Charter flights between Tbilisi and Moscow has fuelled hope that full air links will resume.
Georgian businesses have suffered from an effective trade embargo by Russia since 2006.