Nope, but what you can do is pull a fielder in another position and temporarily have the current pitcher play in that position while another pitcher fills in at the mound. After the new pitcher is done he can be pulled, the original pitcher can be moved back to the mound, and another player put in the position he was in.
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In MLB, any player removed from a game is ineligible to return to that game.
If a pitcher is moved from the pitching position to another position, he may at a later time be moved back into the pitching position.