Defensive co-ordinator Wade Phillips took temporary charge of the Texans while Kubiak was absent, but the 52-year-old should be back on the sidelines this weekend against the Oakland Raiders.
Kubiak asked reporters: "Y'all miss me?" as he took his seat on Wednesday afternoon.
He continued: "It's just great to be back. Great to be back on the field and just good to be back to work. If everything goes well this week, yes I will [be present on Sunday].
"I feel great today. I don't foresee any reason why I won't be with the team."
Kubiak's side have lost seven in a row to sit in third spot in the AFC South.