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Legal.

He can even pitch twice in the same inning:

Rule 3.1.2: "A player may be removed as pitcher and returned as pitcher once per inning".

This can happen after the substituting pitcher faces at least one batter, until the batter is out or reaches 1st base. The starting pitcher can then go back to the mound.

There are other references in the rule if the starting pitcher is substituted, but if there is no substitution, and the starting pitcher stays in the game, it's OK.

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