Laidlaw missed the recent defeat by Ireland and last week's win over Italy as Cotter picked experimental line-ups.
Fullback Stuart Hogg and flyhalf Finn Russell also return to the squad along with centre Mark Bennett and winger Tommy Seymour.
Lock Grant Gilchrist was included after missing the 16-12 victory over Italy due to illness and second row Jonny Gray is in line to play his first World Cup warm-up.
Cotter will name his 31-man squad for the tournament in England and Wales after the Italy match.
Scotland play their opening World Cup game against Japan on Sept. 23.
Forwards: John Barclay, Fraser Brown, Blair Cowan, David Denton, Alasdair Dickinson, Ross Ford, Grant Gilchrist, Jonny Gray, Robert Harley, Stuart McInally, Willem Nel, Ryan Wilson, Gordon Reid, Jon Welsh
Backs: Mark Bennett, Stuart Hogg, Peter Horne, Greig Laidlaw, Sean Lamont, Finn Russell, Henry Pyrgos, Tommy Seymour, Greig Tonks, Matt Scott, Tim Visser
(Reporting by Ed Osmond, editing by Tony Jimenez)
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