The safety, who joined the AFC South side as a free agent earlier this year, has been recovering from off-season hip surgery.
The 35-year-old told reporters: "Work went good today. Worked out well. Did some scout team reps, even played nickel a little bit to get some other movement around. Feeling much better than I felt last week, so we'll see how it goes.
"Coach knows my heart. I've been telling you guys, I wanted to play last week, but I understand my role too and try to encourage the guys, motivate the guys. That's why we just came from watching film and talking over stuff.
"I'm trying to pass knowledge as much as possible about the game, so we can be successful as a defense and as a secondary. I'm preparing always to play. Like I said, it's day-to-day, game-to-game."
The Texans play the Tennessee Titans this Sunday.