The top-ranked team in the Davis Cup has come without world number six Tomas Berdych but features top-100 players in Jiri Vesley (48) and Lukas Rosol (87) apart from Grand Slam winner Stepanek and Adam Pavlasek.
They hit the courts after touching down the capital in the wee hours to get the first taste of the conditions.
The three-time champions are without Berdych but Stepanek says it is not a worry for them.
"It was Tomas' decision (to miss the tie). We always play with the team we have, trying to do our best. We have won matches without him. We have that experience and it does not bother us. Our mission is to win 3 points. But when you miss a top-10 player, it is a big miss," he said.
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Stepanek has had lots of success with India's veteran pro Leander Paes. They won Australian Open (2012) and US Open (2013) together and were runners-up at the 2012 US Open.
Now Stepanek and Paes will fight for the crucial doubles point on Saturday and the Czech player feels India will have a good chance to win that rubber.
"We have had great success together in the past. It will be interesting to find him on the other side of the court. He always makes big things here, he is a great partner. We have couple of options but in doubles, India will be favourites," he said.
Of Paes' eight men's Grand Slam titles, five have come with Czech partners. He won 2006 US Open with Martin Damm and with Lukas Dlouhy he won the French Open and US Open in 2009.
"Chennai was pretty nice. I had the partner with whom I won a Grand Slam, so no complaints. Leander is half Czech because he has won half of his Grand Slams with the Czech guys ," he said.