Stafford injured his knee in last weekend's lopsided loss to Chicago, but neither he nor the team will confirm reports he sustained a dislocated kneecap that quickly returned into place.
The Lions listed Stafford as their third quarterback against the Steelers because of a right knee injury.
The first overall pick in April's draft missed practice Wednesday and Thursday, but saw limited action in Friday's individual drills. Lions coach Jim Schwartz would not comment how much work Stafford did in team drills, which are closed to the media, and Stafford declined to speak to the media.
Culpepper has been hoping for another shot at a starting job, either in Detroit or elsewhere, and knows a good outing against the Super Bowl champions can only help.
Pittsburgh was without safety Troy Polamalu, who hasn't played since tearing a ligament in his left knee a month ago. Running back Willie Parker also was out for the second straight game because of an injured left toe.
Information from The Associated Press was used in this report.