Araújo, 27, was filmed leaving Barcelona's Ciutat Esportiva Joan Gamper training complex, with supporters wishing him luck as he departs on a season-long loan the two clubs have agreed. The centre-back is due to undergo his medical at Liverpool on Sunday, the same day Iraola takes charge of his first home game as manager, against Ligue 1 side Monaco.
Anfield became a difficult venue for Liverpool during the closing stages of last season, with regular jeering of the team and of Arne Slot ultimately contributing to the Dutchman's departure, and Iraola has made rebuilding the connection between supporters and the team one of the central themes of his opening weeks in charge.
"Sunday is, of course, going to be a very proud day for my staff, and for me, as we take charge of our first home game," he wrote in the matchday programme. "I have experienced Anfield before from the other side, and that was pretty special (even if the results didn't go the way I would have liked!) but I know that it will be a completely different feeling as the head coach of Liverpool, and that is something I am really excited for.
"I spoke when I first arrived at the club about emotion, about the connection between the players, the staff and the supporters.
"That is extremely important and will be even more so going forward. We want to give you guys a team you can really identify with and be proud of, and we will be doing everything we can, every day, to make that happen. Sunday, therefore, is an important step on that journey. It is a journey I want us to all enjoy together, and which I hope and believe will lead to success and to many happy and memorable moments in the future."
Iraola also confirmed his squad is close to being fully assembled following the club's World Cup contingent returning from their post-tournament breaks.
"We now have virtually our entire squad together, which of course will be very important in the coming days and weeks," he said. "Víctor Muñoz, our new signing, joined us at AXA this week having been part of the Spain squad which won the FIFA World Cup last month, as did Virgil van Dijk, Cody Gakpo and Alisson Becker. Alexis Mac Allister, the last of our World Cup players, will link up with us on Monday, also."
Araújo's arrival, once completed, would give Iraola further defensive reinforcement after a shaky start to pre-season defensively, adding another senior option to a Liverpool backline still missing Joe Gómez, Conor Bradley and Giovanni Leoni.