He told the Futon Critic that the next episode of the crime drama will explain how the two detectives (played by Vincent D'Onofrio and Kathryn Erbe) returned to active duty.
"Episode two will answer how and why they've come back," he explained. "It was my goal to not make a big deal about it."
In the show's ninth season premiere, Goren was fired by Eames, who subsequently resigned.
"I didn't want to start [season ten] with them staring at each other across the squad room saying 'I've missed you' and hug," explained Brancato. "It's not what we do on Law & Order so I actually started three weeks into their return on a major case and then... in episode two we explain the circumstances of that return."
Brancato recently revealed that Criminal Intent could be picked up for an 11th season, despite plans for the show's current tenth run to be its last.
Justified actor Raymond J. Barry will appear in the tenth season as the father of Detective Eames (Erbe), while Sex and the City's Cynthia Nixon will star in an upcoming episode based on the troubled musical Spider-Man: Turn Off the Dark.
Law & Order: Criminal Intent continues on Sundays at 9/8c on USA.