But he was unable to complete Tuesday's session after he reported tightness in his hamstring and was withdrawn as a precautionary measure.
With Ireland's team to face England set to be announced on Wednesday lunchtime, D'Arcy's involvement in Saturday's encounter now looks to be under threat - although there was better news for his centre colleague Brian O'Driscoll.
The inspirational Ireland captain, who has also been nursing a hamstring problem, came though a full session unscathed and will be named in Eddie O'Sullivan's side.
The Leinster centres have been earmarked as a potential midfield partnership for this summer's Lions tour to New Zealand.
But D'Arcy, who has endured an injury-plagued last eight months, may need more game time to convince tour manager Sir Clive Woodward that he should partner O'Driscoll in the Test series