Bale was originally a doubt for the match after suffering an ankle injury in Real Madrid's 4-2 win at Celta Vigo on Sunday.
The 29-year-old joined up with the Wales squad on Thursday morning and Giggs expects him to be available for Friday's match at the Cardiff City Stadium.
"He's fine," said Giggs. "Obviously he arrived a little bit later than the rest of the group.
"He's looked good this week and he's ready.
"He had a little bit of a different programme earlier in the week but the last couple of days he's been good."
Wales will finish top of Group B4 and achieve promotion to the top flight of the Nations League if they beat Denmark on Friday.
A win would also guarantee a Euro 2020 play-off spot and Giggs knows the importance of winning in Cardiff.
"There are a lot of incentives to top the group," he said. "First of all to win a really competitive group would be great.
"Then you get a second bite of the cherry with regards to qualifying for the euros if you don't qualify automatically.
"It has an effect on the seeding for the euro draw as well. We started off wanting to win, it is a new tournament. We wanted to win the first one. It is in our hands now."