The winger returned to Goodison Park on a permanent deal from Tottenham in the summer after a successful loan spell with the Toffees last season.
Despite not featuring in a competitive match so far this campaign, Lennon will be used when the Merseyside club takes on reigning champions Chelsea at home on Saturday.
"I'm not worried about his physical state and he needs to play games now to sharpen up his play," Martinez said of the 28-year-old.
"He's refreshed and is in a great position. He knows the football club inside out and is desperate to get back to Goodison.
"From that point of view, I expect Aaron to be involved one way or another at the weekend."