The 34-year-old was out of contract at the Serie A champions and joins the Gunners on a free transfer.
It was Stehan Lichtsteiner's first appearance since the 31-year-old wing-back had an operation to fix an irregular heartbeat after coming off during a match in September with breathing difficulties.
Lazio's Swiss full-back Stephan Lichtsteiner is set to sign for Juventus after the Serie A side announced on their website that the 27-year-old is undergoing his medical in Turin on Monday.