The coach sat all five of his regular starters during the 104-102 win, which saw the team move back to the top of the Eastern Conference.
Vogel told ESPN: "There was a lot of energy at practice, they definitely had their legs. The decision [to rest the starters] was every bit as much about the bench guys as the starters. Hopefully that took care of the bench, and the fresher legs will help the starters.
"I think rest is part of the solution. How much, who knows? We still have a lot of rhythm and timing and execution that needs to improve."
The Pacers face two-time defending champions the Miami Heat later today.