Gerrard's season was plagued by serious injury.
"It's great to be back involved as it was very frustrating to be missing a few of the qualifiers through injury," he said. "I also missed a lot of games for Liverpool last year, too. It was probably the toughest year of my career.
"I had two career-threatening injuries and the most important thing for me was to get myself back fit and available for Liverpool, play well for my club and then get back into the England set-up. I'm delighted to be back."