Infante returned to Kansas City after three games on a rehab assignment with Omaha. He was 4-for-11 with a double, one RBI and one run, playing the last two games at second base after one game as designated hitter.
"I'm ready to go," he said.
Infante had been out with an inflamed and sore back since May 7. He was hitting .267 in 30 games, with eight extra-base hits and 19 RBIs -- which, at that time, led the club.
Manager Ned Yost said there would be no restrictions on Infante in the Houston series, although he'll be cautious during the following four-game series at Toronto.
"We may have to monitor his games in Toronto because that turf is tough on your back," Yost said. "But we'll just go day to day with it. We've got protection with Pedro Ciriaco and Jimmy Paredes."
Infante doubled in his first at-bat against the Astros, then went hitless in three at-bats. He was replaced for the last inning of the 9-2 loss by Paredes.
Dick Kaegel is a reporter for MLB.com. Earl Bloom contributed to this report.