The duo had remained behind in Ireland due to injury but they have now rejoined squad in New Zealand.
D'Arcy failed to travel after pulling up in training with a calf strain last Tuesday, while Healy suffered an eye injury in the 20-9 defeat by England.
Leinster centre could now be fit to face the United States on Sunday but Healy remains a doubt for the clash.
"I was getting mentally prepared for doing the journey by myself, but I got the news that Gordon pulled up with an injury," said Healy.
"There was a sense of relief for both of us that we would still be travelling.
"Talking to some of the squad, they have settled in really well and combined training with some time to relax and get involved in the whole spirit of the tournament.
"It's good to get that down time before we pick the pace up this week.
"The intensity will start to rise now another couple of notches as we look forward to the USA game."
There was more good news for Declan Kidney's squad after full-back Rob Kearney and flanker Sean O'Brien showed no ill-effects from their respective groin and knee injuries.
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