Rosberg was the first to sample the new car, with which the Silver Arrows will be aiming to clinch a third consecutive constructors' and drivers' championship double this year.
Reigning champion Hamilton took over behind the wheel later in the day, contributing to an overall tally of 98.2km.
Each F1 team is allowed to do two promotional events with a current car per season, though each event is limited to 100km and demonstration tyres must be used. However, as Mercedes technical chief Paddy Lowe said following a similar shakedown last year, the test offers a good chance to perform systems checks “in order to hit the ground running for pre-season.”
Hamilton and Rosberg will get their first chance to drive the W07 in anger at next week’s opening pre-season test in Barcelona, Spain, where the new car will be officially presented. Hamilton will drive on Monday and Wednesday, with Rosberg on track on Tuesday and Thursday.