Philadelphia Eagles wide receiver Riley Cooper has returned from his excused absence and practiced with the team on Tuesday.

The Eagles had excused Cooper last Friday and sent him away for counseling after video surfaced of him using a racial slur at a Kenny Chesney concert in June.

"It felt great," Cooper told reporters after Tuesday's joint practice session with the New England Patriots. "I love being out there on the field playing football. That's what I do and that's what I love."

Cooper is expected to start at wide receiver Friday when the Eagles open their preseason schedule against the Patriots.

"I went in and talked to everyone and everyone seemed to support me," Cooper continued. "We just talked about the situation and how big that is. I realize how many people I've hurt, how many families I've hurt, how many young kids I've hurt. I take full responsibility for it."

The 25-year-old University of Florida product was a reserve receiver last season and was likely going to have a similar role this year until Jeremy Maclin tore his ACL early in camp. Cooper caught 23 passes for 248 yards and three touchdowns in 2012.

The Eagles released their first depth chart on Monday, and Cooper was listed as the second-string wide receiver.