The 76-time capped front-row is set to face England and Argentina in the pre-tournament games after completing his rehabilitation from surgery on his foot.
And Jenkins is relishing the chance to return to action in next month's outings at the Millennium Stadium.
"Coming back from injury is a frustrating time for any player and you have to tough it out mentally and keep telling yourself you will be back," said Jenkins.
"But, if there is ever a good time to make your comeback, it's probably now.
"The World Cup is just around the corner and in hindsight, although it was difficult being out, it was all part of the plan really, that I would time my return and be getting back into it now."
Jenkins faces strong competition for a place in the final 30-man RWC squad from Paul James and Craig Mitchell.
And the Cardiff Blues ace admits he will have to prove himself as worthy of his place.
"I've done all the fitness work necessary and it will stand me in good stead, but now I have to get back in the side," said Jenkins.
"Paul and Craig have both done well and it will be a good thing for the squad if I can create some more competition for that starting spot.
"Those are the guys in possession and it's up to the likes of myself and Adam (Jones) to wrestle the shirts from them now.
"All the jerseys are up for grabs, which is going to make those games against England and Argentina all the more interesting.
"Obviously I'll be looking to get some game time and I just have to hope I do enough to impress the coaches if I get my chance, but the first priority now is to get back on the training camp next week in Poland."
Gilbert has released a new line of rugby cleats. The Gilbert Virtuo 8S is part of the exciting new product. Check it out.
The entire All Blacks apparel line has been updated for 2013/14. Check out the New Zealand All Blacks polo.
The Nike Tiempo is a solid rugby cleat and one of few styles still made from full-grain natural leather.
The Gilbert Blitz 8S rugby cleat is a great cleat at a great price of $69.99. Get a new pair of cleats today.
A cool looking all black rugby cleat with the high performance adidas is known for. Get in the Gear!
Wear the crest of the British and Irish Lions on your t-shirt. A great look for the summer.
The All Blacks Performance t-shirt is black with hints of blue from the training jersey. Very Cool.
The New Zealand All Blacks training jersey for 2013/14. Get in the Gear!
The USA Rugby Pro Alternate rugby jersey is perfect for any fan of the Eagles. Get yours to wear during the summer Test matches.
The NEW All Blacks 2013/14 jersey has arrived at World Rugby Shop. Dare to wear the colors of the All Blacks.