The Race2Recovery team say they are going through their final checks before setting off on the Dakar Rally in a few hours time.
Captain Tony Harris said: "Having been part of Race2Recovery right from the beginning and having put in so much work, along with the rest of the team, it feels surreal to finally be in Lima and be hours away from revving up on the start line."
More top news
The MP died at the age of 84 on Sunday.
He held several shadow cabinet posts during his parliamentary career, but had not been active in the Commons in recent months.
Campaigners say that the Government should continue to pay for the scheme.