The full-back limped out of the Premiership win against West Ham with a groin problem a fortnight ago and subsequently missed the games against Manchester United and Middlesbrough.
But he returned to training last week and returns just in time with Christian Ziege expected to be out 'for some time', according to boss Glenn Hoddle, after straining a calf muscle on Saturday.
Midfielder Steffen is back in the squad for the first time in eight months after damaging his cruciate knee ligament in last season's Worthington Cup semi-final at Chelsea.
Further good news sees Kasey Keller, Jamie Redknapp and Milenko Acimovic all named in the squad after picking up knocks at the weekend.
But 11 players are still missing for the second round tie with Neil Sullivan (broken thumb), Steve Carr (hamstring), Chris Perry, Darren Anderton, Tim Sherwood, Gus Poyet (all knee), Christian Ziege (calf), Steve Clemence (Achilles), Ledley King (hip), Anthony Gardner (thigh) and Alton Thelwell (groin) all sidelined.
Squad: Keller, Hirschfeld, Doherty, Taricco, Thatcher, Richards, Bunjevcevic, Davies, Iversen, Freund, Redknapp, Blondel, Ricketts, Etherington, Acimovic, Ferdinand, Keane, Sheringham, Henry.
Mauricio Taricco has joined Steffen Freund in returning to the squad to face Cardiff City in the Worthington Cup at the Lane tonight.