MI skipper Rohit Sharma tweeted Kumar's picture in the team's jersey and said, "Welcome mate good to have you!!!"
A team official also confirmed the development and said the India discard joined the team today and practised at the nets. Kumar remained unsold at the player auction held earlier this year.
Zaheer Khan had been ruled out of the tournament after suffering a severe side strain after bowling just three deliveries of his final over in Mumbai's game against Kings XI Punjab on May 3.
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