Capps, who had been on the disabled list since July 17 with right rotator cuff irritation, threw a scoreless ninth inning in his return after pitching in simulated games last Wednesday and Saturday.
Capps gave up one-out singles to Eric Chavez and Derek Jeter but was able to get out of the jam by getting Ichiro Suzuki to ground out and Alex Rodriguez to line out.
"He's fine," Twins manager Ron Gardenhire said. "He threw 45 pitches on Saturday, and we put him in there last night against what wasn't exactly the bottom of the order. He went up against the boys at the top, and the ball was coming out of his hand pretty good He threw some nice sliders, and his velocity was OK. For a first time back, I was happy."
Gardenhire, though, said Capps will likely not pitch again until Friday and Glen Perkins will remain the club's closer.