The five-time Ballon d'Or winner was absent from his nation's 2-0 triumph over Italy last Friday due to a minor adductor muscle injury.
However, the Barcelona star is expected to play against Spain tomorrow evening.
In a pre-match press conference, De Gea told reporters: "We want to face the best players and Messi is one of them. As a goalkeeper it's a challenge to face Messi.
"We are going through a good spell. We have to maintain this line and hope to arrive in the best form possible at the World Cup. We have a wonderful group, we get on well together and that is also transmitted on the pitch. We have ambition, enthusiasm and a great group."
Spain recorded a 1-1 draw with Germany last week.