The 24-year-old suffered a serious neck injury last time out for his country against Australia at the beginning of December.
However, he has insisted that he is ready to return for their Six Nations opener, telling Sky Sports News: "It was pretty worrying at the time.
"I had a dead arm for half-an-hour and I was not sure what sort of damage had been done, so the scans were pretty good news because they showed no nerves had been damaged.
"I was conscious the whole time, but not sure what had happened. I was aware of a numbness in my arm and it was frightening. I had a few weeks off and missed games I wanted to play in, but I have played a few games this month and it has been good."
Halfpenny will win his 40th cap if selected this weekend against Ireland.