Lamar Odom had nine points in Dallas' 102-96 victory over the Utah Jazz on Saturday night after he returned to the Mavericks without playing a planned game in the NBA Development League.
Odom played 18 minutes in his first game since Feb. 20. He also had five rebounds and three assists.
Odom had been set to play for the Texas Legends on Saturday night after missing four straight games for the Mavericks. He was assigned to the D-League team Friday.
Dallas has been without guard Delonte West (right finger fracture) for more than two weeks. Center Brandan Wright missed Saturday's game with a concussion.
"We're struggling and could use the extra manpower," coach Rick Carlisle said before the victory.
After missing the Mavericks' last game before the All-Star break against his former team, the Los Angeles Lakers, Odom has missed all three games since the break.
The Mavericks have said he was away for a family matter and personal reasons.
Dallas had lost four in a row, including a 97-92 setback Friday night against last-place New Orleans.
Odom entered Saturday night's game averaging 7.7 points and 4.5 rebounds per game in his first season with Dallas.