A starting pitcher who is removed cannot re-enter in either league, if he is removed from the game. It's rarely if ever done in Major League Baseball, but if a pitcher is removed as a pitcher but placed in another position he can later return to the pitcher position.
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If a pitcher leaves the game and is replaced on the line-up (9 men in NL, 10 in AL) no. But a pitcher can be moved to a different position, and return to the pitcher position, so that a different pitcher can face a specific hitter.
In Major League Baseball, any player removed from the lineup, cannot re-enter the game at any time.