Well Russia did invade Poland after the Germans first made sure all the heavy was done and there was their near disastrous war with Finland if you consider that starting the entire European war, yeah you could say that. Stalin didn't send Hitler troops when he invaded Belgium and France and neither did Hitler ask him to. The Red Army would have been all but useless anyway. Stalin's ambitions were more local. Like reclaiming Finland which the Russian's felt was theirs historically and snapping up the Baltic countries. Stalin was an opportunist really.
Stalin also counted on the armies of Britain, France and Germany bleeding each other dry, which would have allowed a built up Red Army by around 1943 to swoop in and take over Europe.
One thing Stalin didn’t count on, France falling in six weeks....he had to know by then it was only a matter of time before Hitler turned his sights on him....but Stalin wasn’t ready in 1941.