The German marque this week declined to comment on reports the Pole has been driving at the wheel of Mercedes' sophisticated F1 simulator at Brackley.
But Kubica, 28, did confirm the reports, prompting shareholder and chairman Toto Wolff to admit on Friday that the former BMW and Renault driver is "helping" Mercedes.
"If there's any chance of getting him back in a DTM touring car or F1 cockpit, we'd love to do it," he told the BBC.
"Any team would love to have a Robert Kubica."
Wolff clarified, however, that Kubica - whose right arm is still injured in the wake of his near-fatal 2011 crash - is now mainly focused on rallying.
"He is somebody I have known for 10 years but it's absolutely his call how he wants to help us and his main focus is rallying," he said.