Posada, 38, had been forced from the lineup Tuesday by a cyst behind his left knee, which affected him while squatting. Posada served as the DH on Wednesday in Cleveland but rested on Thursday.
"I checked with him when he came in and he said he was ready to catch," Yankees manager Joe Girardi said.
Posada said that the cyst issue first surfaced in 2006, but that he is able to manage it through heat and ice therapy.
With Posada behind the plate, Girardi elected to start rookie Colin Curtis as the designated hitter. Curtis went 2-for-4 with three runs scored in New York's 11-4 victory over the Indians on Thursday.
"I like the way he's swinging the bat," Girardi said.