It's the first time Pagano has been back since being diagnosed with a form of leukemia Sept. 26.
Interim coach and offensive coordinator Bruce Arians said he listened to the discussion after doctors cleared Pagano, whose white blood-cell count has increased as he has undergone treatment for the illness. He's scheduled to start a second round of chemotherapy next week.
Arians told reporters last week he didn't expect Pagano back at the team facility for a while because doctors wanted to keep him in a sterile environment where he would not risk infection.
"It was a shock to a lot of guys, and everybody was excited he was here," Arians said.
Arians said the surprise visit gave the team a boost, and he noted Pagano went home when he became tired.
The Associated Press contributed to this report.