Babineaux didn't play in that game, serving a one-game suspension stemming from a 2009 marijuana arrest. He also was fined one week's pay, which cost him $260,000 of his $2.2 million salary.
"It's a great feeling to be back out there with the fellows," Babineaux said. "I'm not taking things for granted anymore. I want to have fun every moment and play my hardest."
Two years ago, Babineaux ranked fourth in the NFL with 9.5 tackles behind the line. Last season, he led the Falcons with six sacks -- quite a coup for a defensive tackle, whose primary job is clogging up the middle of the line, tying up as many blockers as possible so the guys on the outside can swoop in to get all the glory.
Off the field, things haven't gone as smoothly.
Babineaux was arrested in 2007 for his alleged involvement in the death of his girlfriend's dog, but prosecutors cleared said there wasn't enough evidence to prosecute. Last December, he was jailed again after police found 1½ ounces of marijuana in his car during a traffic stop in suburban Atlanta.
The charges were reduced to three misdemeanor counts, and he pleaded guilty shortly before reporting to training camp. He received one year of probation from the court and a one-game suspension from NFL Commissioner Roger Goodell.
"I made a mistake and obviously I paid for it," Babineaux said. "It's a lesson learned. I'm ready to move on from here. I'm ready to have a great year."
Babineaux didn't make the trip to Pittsburgh but was watching on television when Rashard Mendenhall burst through the line to win the game on a 50-yard touchdown run in overtime.
"It's kind of weird to see your team and you're not out there playing," Babineaux said. "It's like you're a fan on the outside looking in. It leaves an empty feeling in your stomach. I wish I could have been there."
"I feel like I've been progressing every year as a player," said Babineaux, who's now in his sixth season. "Once you've been in this league a while, you understand things more and you can play faster, play at a higher pace."
Notes: To restore Babineaux to the 53-man roster, the Falcons demoted center Rob Bruggeman to the practice squad. They had an opening after RB Dimitri Nance was picked up by the Green Bay Packers. ... WR Michael Jenkins will miss Sunday's game because of a shoulder injury. Jenkins hadn't practiced all week, and the Falcons ruled him out Friday. He was injured six weeks ago during a scrimmmage before the first preseason game and hasn't had any contact since then. Harry Douglas started in place of Jenkins in the opener. ... Safety Erik Coleman hasn't practiced all week because of an injured left knee. He was hurt against the Steelers but returned to finish the game. The team listed him as questionable for Sunday. If Coleman can't go, second-year pro William Moore likely would make the start.
The Associated Press contributed to this report.