SAN FRANCISCO — Paul Millsap will return to the Hawks lineup Friday after the All-Star forward missed the past five games with a right knee contusion.

Millsap will be in the starting lineup with the Hawks play the Warriors.

Millsap said he was “ready to roll.”

“It’s been tough but I had to learn how to control it,” Millsap said following a morning practice at a San Francisco health club. “Somethings are out of your control and you have to sit back and deal with it.

“We were being more cautious in making sure the problem doesn’t re-occur. Now, we all feel comfortable about it.”

Hawks coach Mike Budenholzer said Millsap will start and play with Jeff Teague, Kyle Korver, DeMarre Carroll and Elton Brand.

Budenholzer said there will be an undetermined minutes restriction on Millsap.

“We’ll work him back into playing shape and make sure that his knee continues to be in a good place,” Budenholzer said.

The Hawks will also have Pero Antic available. The center played in Wednesday’s loss to the Trail Blazers after missing the previoius 17 games with a right ankle stress fracture. Pero said his ankle was sore following the game. Budenholzer said Antic has no ill effects that would prevent him from playing.

* More on Millsap’s return and other notes later today on myajc.com