"We have a couple of guys we are still holding out," coach Lovie Smith said. "Brian's knee is still a little bit sore. And a couple of other guys. But they should be good to go next week."
Urlacher had medial collateral and posterior cruciate ligament damage following a collision in the end zone with teammate Major Wright in the Bears' 2011 regular-season finale. He didn't need surgery, but sat out all of the off-season work while rehabbing the injury.
Urlacher missed Wednesday's practice entirely, then dressed and did work in the individual skills portion of practice Thursday and Friday, but did not scrimmage.
Now 34 years old, Urlacher told ESPN radio in the off-season that he would like to play two or three more years.
The Bears also continue to practice without wide receiver Eric Weems, who has an ankle injury. Wide receiver Devin Hester, who had been excused from Thursday's practice for personal reasons, returned Friday night.
Follow Bears reporter Gene Chamberlain on Twitter @CBSSportsNFLCHI.