Training: Adam Wharton
Richards was absent from training last week after sustaining an ankle injury during Palace’s 2-2 draw with Brentford.
Days later, Wharton came on as a second-half substitute against Arsenal but had to be replaced soon after due to injuring his ankle following a coming together with Myles Lewis-Skelly.
Palace had been left sweating over the pair’s fitness ahead of Wednesday’s Conference League final.
However, with both players joining training on Tuesday morning, Palace look set to have a near fully-fit squad available for selection.
Oliver Glasner rang the changes against Arsenal last weekend in a bid to focus preparations on Wednesday.
Palace are looking to win their third trophy in 12 months when they take on Rayo Vallecano in Leipzig, Germany, on Wednesday night.
Having lifted the FA Cup and the Community Shield, Glasner is hoping for the perfect send-off as he takes charge of his final game as Palace manager.
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The Austrian is already considered Palace’s greatest ever manager, having guided the club to their first major trophy by beating Manchester City in the FA Cup final last May.
Glasner, though, is hoping to make more history as Palace prepare for their first European final.