McDonald did not practice on Thursday with a shoulder injury, and was not spotted at the team's walk-through on Wednesday.
With McDonald back in the fold, the Patriots had a full complement of offensive linemen, including guards Logan Mankins and Dan Connolly, as well as tackle Sebastian Vollmer, at the start of Friday's practice, which was held in light shoulder pads.
Quarterback Tom Brady was present for a second straight practice following the birth of his third child on Wednesday.
Tight end Rob Gronkowski (forearm/hip) was the only player not spotted on the practice field Friday.
The team will practice for a final time on Saturday before facing the Houston Texans on Monday night.