After a day of working on the side by himself, safety Kyle Hamilton joined his Ravens teammates for practice, temporarily bringing the team’s participation to 100% Thursday as they prepare for the Pittsburgh Steelers.

Hamilton, the Ravens’ starting All-Pro safety, injured his ankle last Thursday against the Cincinnati Bengals. In addition to being the best and most reliable safety on the roster, he is one of the most athletic and versatile players on the defense.

Hamilton did not dress for practice Wednesday and did light jogging on the side with trainers. Coach John Harbaugh declined to provide an update after Wednesday’s practice.

With Hamilton’s return, the secondary was at full strength. Newly added cornerback Tre’Davious White has been practicing, and cornerbacks Arthur Maulet and Jalyn Armour-Davis, who recently returned from injury, were healthy.

But, during Thursday’s practice, Maulet suffered an injury that landed him in a walking boot. Whereas he was jovial and excited for the game on Wednesday, he was subdued Thursday. He sat in his locker while teammates came up to check on him or pat him on the back.

Maulet, who played well as the nickelback last season, underwent arthroscopic knee surgery during training camp. When he tried to return, he injured his hamstring. However, he made it back for Week 8 and played three games.

The Ravens also saw the return of outside linebacker Kyle Van Noy, who missed Wednesday’s practice with an illness.

Prior to Maulet’s injury, this was the first practice in which the Ravens have had every player on their active roster participate since Oct. 6.

The Ravens have their first meeting with the Steelers this season Sunday. Harbaugh will talk to the media after Thursday’s practice.

This story will be updated.