Guerin missed Games 3 and 4 in Montreal with an undisclosed injury. The series is tied at two games apiece.
"Feeling great. Thanks for asking," Guerin said.
He said he was feeling 100 percent. "Whatever that means," he added jokingly. "I'm normal."
"The line has been a productive one, probably the most productive line for us throughout the year, and in the playoffs," Penguins coach Dan Bylsma said. "Bill Guerin has been a playoff performer for us a guy who also adds to the top power-play unit."
Rugged forward Mike Rupp also returned to the lineup after missing Game 4 with what he termed "a bug."
"He's a tough guy to handle when he's in and around the net," Bylsma said. "That's part of what our team's made up of. There's a lot of talk about Crosby and [Evgeni] Malkin, but there is a grit, physical element to our team that we need to bring and the team needs to bring in a series like this."
Information from ESPN.com's Scott Burnside was used in this report.