We report a novel method of detecting the glass -> liquid transition at high pressures, which comprises measuring the relative volume change incurred upon heating glassy samples into the liquid state. We show data on glycerol in the pressure range 0.050-1.00 GPa to demonstrate the viability of the method. The reversible glass -> liquid transition is observed by means of a kink in the relative volume change on heating the sample isobarically, which is attributed to the glass -> liquid transition temperature T-g. This kink can only be observed in the second and subsequent heating cycles since it is superposed by a compaction in the first heating cycle. The isobaric thermal expansivity beta, which is closely related to the first derivative of this curve, shows the features expected for a glass -> liquid transition, including a sharp rise of beta(glass) in a narrow temperature interval to beta(viscous liquid) and an accompanying overshoot effect. Both T-g and the size of the overshoot effect vary in accordance with theory upon changing the ratio of cooling to heating rates. From the shape of this curve the onset, inflection, overshoot peak, and endpoint of the glass -> liquid transition can be extracted, which can be employed to calculate the reduced glass transition width as a measure for the fragility of the liquid. Comparison with literature data allows quantifying the accuracy of the liquid's thermal expansivity beta to be at least +/- 10%, while the error in beta is significantly larger for the expansivity of the glassy state. The reproducibility of the glass -> liquid transition temperature T-g is better than +/- 2 K. Our glycerol data confirms literature studies showing a nonlinear increase of T-g with increasing pressure (similar to 35 K/GPa on average), which is accompanied by an increase in fragility.