The quarterback has not featured for the Chiefs since dislocating his right kneecap against the Denver Broncos on October 17 – a game Kansas won 30-6.
In Mahomes' absence, the Chiefs lost to the Green Bay Packers before overcoming the Minnesota Vikings 26-23, leaving them with a 6-3 record.
Matt Moore has been playing in place of Mahomes, who was selected as the 10th overall pick in the 2017 NFL Draft, but the 24-year-old will start in Week 10.
"I'm in a good spot,'' Mahomes told reporters on Friday. "I'm ready to get out there."
"I knew I had a chance once I talked to those doctors and they said as long as I was functioning well, moving well, I could play this week.
"Coach [Andy] Reid still wanted me to take it day by day. I went out here in practice and took the reps and I haven't had any pain or any setbacks, and so as long as we keep going with that I'm glad to be back out there.
"Hopefully it was kind of a fluke thing. I'll always be I guess a tad bit higher [at risk] than the regular person, but whenever you're out on the football field, there's always a chance of injury.''
Reigning NFL MVP Mahomes has passed for 2,180 yards and 15 touchdowns so far in 2019, registering just the one interception.