Pierce's testimony Thursday came one day after Burress appeared before the grand jury in hopes of persuading the panel not to indict him on charges of carrying an unlicensed firearm.
Pierce was with Burress at The Latin Quarter club in Manhattan on Nov. 29 last year when the wide receiver shot himself in the leg.
Authorities say Pierce removed the gun from the scene and took it to Burress' home in Totowa, N.J. Pierce also drove Burress to the hospital.
"Mr. Pierce is here voluntarily today to explain his side of the story so the grand jury understands what occurred on that day," Bachner said.
Giants co-owner John Mara defended Pierce this week, saying any charges against the linebacker would be "unwarranted."
Burress caught the winning touchdown in the final minute of the 2008 Super Bowl. The Giants released him in April and he has not signed with another team.
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