He previously said he wasn't sure whether he would play Sunday if he was not able to participate in practice.
Gronkowski had a record-breaking season for the Patriots, setting an NFL mark for tight ends with 17 touchdown receptions. He also scored once on the ground and finished with 90 catches -- second on the team behind only Wes Welker's 122 -- for 1,327 yards.
He was the only player listed as a non-participant on New England's injury report Wednesday.
Meanwhile, Giants running back Ahmad Bradshaw (foot) was limited in practice but is not expected to miss the game.