Irving return after he missed eight games after he was suspended for posting a link to a documentary containing anti-Semitic content on his Twitter page.
Simmons also returned to the starting lineup after center Nick Claxton was sidelined for personal reasons. In contrast, Grizzlies were without ace Ja Morant, Desmond Bain, and Jaren Jackson Jr. due to injury.
Irving, who was the last player to be introduced and was greeted with applause, made his first 3-pointer, but missed four shots after that to end the first half.
Memphis led 62-57 in the first half, thanks in part to Brooks, who scored 17 points. In the third quarter, Durant scored 14 points and Simmons made all four of his shots as Nets scored a season-best-tying 39 points to lead 96-93 heading into the final quarter of play.
An 18-5 spurt in the fourth quarter, including four 3-pointers by Yuta Watanabe, made it a 114-98 game, and Nets eventually won 127-115.
Simmons, who entered the game after posting his best game of the season on Thursday against Portland, continued to show his true strength for the first time since joining Nets with 23 points on 11-of-13 shooting, eight assists, and five rebounds, and he was also aggressive, attempting 13 shots. Yuta Watanabe also scored in double figures for the first time in his career with 16 points in four straight games. He is establishing himself as an indispensable member of Nets. The next game will be against Philadelphia, where a major trade involving Harden and Simmons took place last year.