The running back had been a doubt for the tie, having missed several practices with a tight groin earlier this week.
The head coach told the team's website: "My plan is, if he feels fine coming out of today, he will. He looks fine. He should be able to take his reps that we want him to take on Friday night. It won't be many, but I'd like to see him get out there with the first group and take some."
Kubiak added that wide receiver Andre Johnson, along with other players who have not practised on a synthetic surface so far this pre-season, will be rested.