"He's fine," Gardenhire said. "He said he's a little sore."
Mauer's bat has been heating up lately. He is hitting .360, with six doubles and a .484 on-base percentage over his last 14 games.
"We need his bat in the lineup, he knows that," Gardenhire said.
In place of Mauer, Drew Butera was penciled in to catch starter Carl Pavano. Fellow catcher Ryan Doumit is "really close" to a full return, after straining his right calf on May 16, Gardenhire said, but he was available to pinch-hit in Saturday's game.
"When you're playing this game every day, you're going to get little nagging things," Gardenhire said. "Every team is a little bit beat up here and there. You have to adjust."