The 35-year-old will make his first appearance in the NFL showpiece following the AFC West side's victory in the conference championship game last week.
Boss Bailey, who played linebacker for the Broncos and the Detroit Lions during his six-season NFL career, told USA Today: "He knew what the end plan was this year. I never saw him get down, even when he wasn't playing. He was like, 'We just have to keep winning games, winning games, position ourselves to be in first place, and then I'll be ready'.
"It's just meant to be. He missed all that time in the season so he could be here. I knew this was Champ's moment, in that game, to be there, and be effective for his team to make it to the Super Bowl.
"You watch the Super Bowl on TV, and they make it look so good, and so much fun on TV, so I just wonder if it's going to be all that it's lived up to be. Just to see him come out of the tunnel. I always said I wouldn't go to a Super Bowl unless me or him was in it. This is my shot to go, and I didn't know if I would ever have that shot to go."
Champ, who made his league debut in 1999, missed the majority of this season with a foot injury.