Rodriguez, who had been on the disabled list with a strained left calf, batted cleanup and finished 2-for-5 with an RBI.
"We feel it is healed and ready to go," Yankees manager Joe Girardi said before the game.
Rodriguez had been on the disabled list since Aug. 21. He had not played in a full game since Aug. 15.
Originally, after hurting the calf, he tried to come back four days later, but felt the pain in the calf when he swung and ran. The Yankees, not wanting to take any chances, put him on the disabled list.
Rodriguez said after the game he wasn't running 100 percent and didn't go full out on an infield single in the sixth, adding that he'll evaluate the calf on Monday and then see if he can play.
"I have to wake up and see how I feel and hopefully get in there again," Rodriguez said.
Overall, the Yankees are 65-48 in games A-Rod plays in and 21-3 when he doesn't.