The forward trained on his own in the gym at England’s hotel on Thursday and has made enough progress following the knock to his knee to join the rest of the squad on Friday.
The injury was revealed after his man-of-the-match display and outstanding opener against Costa Rica last week.
Rashford had reassured fans on Twitter that the injury was just a “niggle” and said there was “nothing to worry about”.
England’s squad had a morning training session at Spartak Zelenogorsk on Thursday as they continue preparations for their first game of the World Cup against Tunisia on Monday.
Full-back Kieran Trippier said on Thursday that Rashford was recovering well and he expected his team-mate to be fit for the match.