Richardson, 34, underwent surgery on his left knee in January 2013 and has not played since. He only returned to practice on a full-time basis Wednesday.
"I’m super excited. I maybe got about four hours of sleep last night," Richardson said, according to the team's website. "I’m a veteran, so I know not to force it too much, just try to get warm, get involved in the game, and help these young guys out."
None of the players that were on the Sixers the last time Richardson took the court are still with the team, as the franchise has begun a massive rebuilding process.
Richardson averaged 10.5 points and 3.8 rebounds in 28.4 minutes per game in the 2012-13 season before he was injured.
Philadelphia head coach Brett Brown said Richardson will only be able to play in four-minute stretches Friday.
- Dan Gartland