"He threw the ball well," Gardenhire said. "He threw the ball over the plate. He worked quick, and he was healthy. So we'll just keep moving forward from there and get his pitch count up."
Pelfrey is expected to make at least one or two more rehab starts before rejoining the Twins. Gardenhire said Pelfrey's velocity on Friday was about the same as it was before his groin injury.
"It was the same thing at about 91 [mph]," Gardenhire said. "We all know he can pump it up to 95. Radar guns can be a little wacky, though. We saw that on our last road trip. So it's hard to go by on those Minor League reports with his velocity. But he threw the ball great and worked quick."
Left fielder Josh Willingham also played in his first rehab game Friday night, going 0-for-4 with a strikeout for Rochester. Willingham, who is on the 15-day disabled list retroactive to April 7 with a small fracture in his left wrist, is expected to need plenty of at-bats, as he last played April 6.
"He got his swings in," Gardenhire said. "Nothing great. He was healthy, and his swing didn't bother him. So he'll just need more at-bats."
Rhett Bollinger is a reporter for MLB.com. Read his blog, Bollinger Beat, and follow him on Twitter @RhettBollinger. This story was not subject to the approval of Major League Baseball or its clubs.