Falcao has not played since rupturing the anterior cruciate ligament in his left knee in January, reported Xinhua.
Last month, the former River Plate, Porto and Atletico Madrid forward hinted he was on track to be fit for the June 12-July 13 tournament in Brazil by describing his recovery as "satisfactory".
Falcao is joined in the squad by his Monaco teammate James Rodrigues while the list also includes Porto striker Jackson Martinez, Fiorentina winger Juan Cuadrado and Inter Milan midfielder Fredy Guarin.
Pekerman will cut the squad to 23 by June 2. Colombia have been drawn in the World Cup's Group C alongside Greece, Cote D'Ivoire and Japan.
Goalkeepers: David Ospina (Nice), Faryd Mondragon (Deportivo Cali), Camilo Vargas (Santa Fe)
Defenders: Mario Yepes (Atalanta), Aquivaldo Mosquera (Club America), Cristian Zapata (AC Milan), Carlos Valdes (San Lorenzo), Amaranto Perea (Cruz Azul), Eder Alvarez Balanta (River Plate), Santiago Arias (PSV Eindhoven), Camilo Zuniga (Napoli), Pablo Armero (Napoli)
Midfielders: Carlos Sanchez (Elche), Fredy Guarin (Inter Milan), Abel Aguilar (Toulouse), Aldo Leao Ramirez (Morelia), Juan Fernando Quintero (Porto), Victor Ibarbo (Cagliari), James Rodriguez (Monaco), Macnelly Torres (Al Shabab), Juan Guilermo Cuadrado (Fiorentina), Edwin Valencia (Fluminense), Alexander Mejia (Nacional), Elkin Soto (Mainz)
Forwards: Radamel Falcao (Monaco), Carlos Bacca (Sevilla), Adrian Ramos (Hertha Berlin), Luis Fernando Muriel (Udinese), Teofilo Gutierrez (River Plate), Jackson Martinez (Porto).