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Giants running back Rashad Jennings returned to practice on Friday.

(John Munson | NJ Advance Media)

EAST RUTHERFORD ‐ After missing two days of practice because of an ankle injury suffered in the second half Sunday against the Jacksonville Jaguars, Giants running back Rashad Jennings returned to the field on Friday.

Jennings looked somewhat hobbled on the injured ankle, but did not appear limited in any part of the 30 minutes of practice that was open to the media. It looked as if the Giants' starting running back intended to play on Sunday against the Titans.

Coach Tom Coughlin will provide an update on his status after practice.

The Titans are ranked dead last in the NFL in rushing defense, allowing 141.5 yards per game. Jennings has performed well when healthy, but has already missed four games with a knee injury.

Jennings has averaged 3.9 yards per carry this season. His backup, rookie Andre Williams, has averaged 2.9 yards per carry and just 2.7 yards in his four starts.

Linebacker Mark Herzlich (concussion) also returned to practice but in a somewhat limited capacity. He suffered his injury late in Sunday's loss to the Jaguars and didn't practice Wednesday and Thursday of this week.

Linebacker Jacquian Williams (concussion) and offensive lineman James Brewer (concussion) did not practice this week and will be listed as out later Friday. Defensive tackle Cullen Jenkins (calf) did practice Friday but appeared to be limited.

For a look back at the Giants and Titans through the years, please check out the photo gallery below.

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Throwback Thursday: Giants against the Titans through the years 16 Gallery: Throwback Thursday: Giants against the Titans through the years

Jordan Raanan may be reached at jraanan@njadvancemedia.com. Follow him on Twitter @JordanRaanan. Find NJ.com Giants on Facebook.