Tony McMahon, also recently back from injury, played the full 90 minutes and captained the side.
A delighted Taylor said afterwards: "It was good to get back out and start playing again. I'm back in full training but obviously training's different to games and it's good to take another step back to full recovery.
"I was just taking a precaution coming off. I wanted to be careful rather than risk pulling a muscle or something and be out for another few weeks but I feel good.
"Physically I feel fit enough to play and if the manager says he wants me I'm there", Taylor added.