Mauer, who has been out since Monday with back spasms, started at first base, while Doumit, out since Wednesday with a strained oblique, got the start behind the plate.
"They're all in," Twins manager Ron Gardenhire said. "It's a fun lineup. We got some boys back."
With Mauer at first base, Justin Morneau started at designated hitter and Josh Willingham got the day off.