Nico Rosberg has edged out Mercedes teammate and championship rival Lewis Hamilton in the opening practice session ahead of the Brazilian Grand Prix.

Hamilton currently holds a 24-point advantage over Rosberg in the drivers' standings, but it was the German who came out on top in the first of two sessions on Friday.

Daniil Kvyat finished in third position for Toro Rosso while Ferrari's Fernando Alonso was in fourth.

Williams driver Felipe Massa, who is competing at his home Grand Prix, ended the 90-minute session in fifth but Daniel Ricciardo, who currently holds third position in the standings, was down the field in 10th.

Full standings:

1. Nico Rosberg (Mercedes)
2. Lewis Hamilton (Mercedes)
3. Daniil Kvyat (Toro Rosso)
4. Fernando Alonso (Ferrari)
5. Felipe Massa (Williams)
6. Max Verstappen (Toro Rosso)
7. Pastor Maldonado (Lotus)
8. Kimi Raikkonen (Ferrari)
9. Kevin Magnussen (McLaren)
10. Daniel Ricciardo (Red Bull)
11. Adrian Sutil (Sauber)
12. Felipe Nasr (Williams)
13. Nico Hulkenberg (Force India)
14. Sebastian Vettel (Red Bull)
15. Romain Grosjean (Lotus)
16. Daniel Juncadella (Force India)