It is the first time Mrs McCann has returned to the country since being quizzed by police over her daughter's disappearance.
The couple have already successfully taken out an injunction against further publication of the book by ex-Portuguese police officer Goncalo Amaral.
Now the McCanns could launch a defamation action against Mr Amaral and his publishers, and are believed to be looking for ?1.2m in compensation.
In The Truth Of The Lie, Mr Amaral claims that Madeleine is dead and questions the McCanns' account that she was taken while they were eating with friends nearby.