The only caution of the day came just as practice was wrapping up when Graham Rahal brushed the wall in Turn 1.
Sunday's race will feature a return to a tradition of a three-wide start, a feature of the original Triple Crown that was revived for this year's Triple Crown.
"By doing the Triple Crown, we are trying to keep the 500-mile races the same; the start shouldn't be too different from Indianapolis," Kanaan noted.
Kanaan won the first leg of the Triple Crown at Indianapolis in May. Pocono is the second leg and the series finale in Auto Club (Calif.) is the third leg.
Al Unser is the only driver to have ever won the Triple Crown, turning the feat in 1978.
A.J. Foyt driver Takuma Sato said he enjoyed his first laps around the Tricky Triangle.
"You had to have a late apex and you need to have an aggressive in Turn 1," Sato said.
Foyt, a four-time winner at Pocono, spoke with his driver, giving him tips on how to set the car up for Turns 1 and 3.
"I am happy to take his advice on how to set up the car. We are focusing on Turn 3 and how to get a launch down the frontstretch," Sato said.
Foyt had successful hip surgery on June 8 and will not be at the track this weekend.
The IndyCars have the day off today as the Firestone Indy Lights have the track for a practice session. Qualifying takes place Saturday at 1:15, with the race slated to go green Sunday at noon.