Sinfield, 45, who played his entire professional career with Leeds Rhinos, is one of the most successful players in Super League history.
He and Burrow met at the Leeds Rhinos academy aged 14 and 12. They went on to win seven titles together with Leeds Rhinos.
Burrow’s wife, Lindsey Burrow, told Radio 4’s PM that her late husband “would have been incredibly proud” of his friend.
“It’s bittersweet that Rob’s not here today to see Kevin finish his final challenge but Rob will be with us in spirit and it’s just testimony to Kevin that he’s so humbled to do this not just for Rob but for the whole MND community,” Lindsey said.
“It’s just incredible. I am in complete awe of the efforts of Kevin and his team over the last seven days, and not just over the last seven days but over the last seven years,” she added.
Sinfield’s son, Jack Sinfield, lined up in the Wakefield side seeking to clinch their first top-flight title since 1968.