McFadden, who has missed the Raiders' last two games with knee and ankle issues, has also missed five of the Raiders' past six games and 19 of 39.
"It feels great being able to be back out there," McFadden said Wednesday. "It's one of those things, two games left, I want to just go out here and finish strong, go out here and fight with my teammates."
In eight games, McFadden has rushed for 365 yards and four touchdowns on 103 carries. His 3.5 yards per carry average is just ahead of last season's career low of 3.3 yards per carry.
Defensive lineman Vance Walker (concussion) and running back Jeremy Stewart (ankle/knee) were working out on a side field with a trainer, though, alongside rookie cornerback D.J. Hayden, who is on injured reserve with a groin injury.