"Rahul has fully recovered from his right hamstring injury and would be joining the squad today," the Board of Control for Cricket in India (BCCI) said in an emailed statement.
England frustrated as India hold out to draw opening Test
The right-handed batsman, 24, missed the opening Test in Rajkot -- in India's western state of Gujarat -- which finished in a draw on Sunday.
Practicing at my fav cricket facility in Blore #justcricket.i get to train with complete peace and no disturbance.#eyesontheballalways pic.twitter.com/YG68Tco7a0
— K L Rahul (@klrahul) November 3, 2016
The second of what is a marathon five-match Test series starts in Visakhapatnam, in Andhra Pradesh, on Thursday.
Rahul's timely return threatens the spot of veteran opener Gautam Gambhir, who disappointed in the first Test.
Day five: Haseeb Hameed hits maiden fifty for England
Gambhir is trying to re-establish himself in the team after two years in the international wilderness but could only notch 29 before an embarrassing duck in the second innings.
India held on for a tense draw with four wickets in hand while chasing 310 and will be looking to secure a first win of the series in Visakhapatnam.
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