The cornerback missed the start of the season with a foot sprain, which he aggravated during the AFC West side's game against the Indianapolis Colts last month.
The 35-year-old told the team's official website: "It's really one of those things I got to practise a few days and get through it, get my confidence back in it. That's really what it's based on, the pain and the confidence that I'll have in my foot.
"If I still have that fear I won't go out there. I'll make sure that my mind is right and I'm 100% committed to going 100 miles per hour every play. I can't see myself playing any other way."
Bailey has made eight tackles during his two appearances for the Broncos this season.