Soler had lost the starting job in right field to rookie Jorge Bonifacio.
"We just need to give Soler at-bats to continue his development," Yost said. "He wasn't getting many here."
Burns, a switch-hitter, said he's ready to help in any way he can.
"I'll help by using my legs," Burns said, "or whatever they need."
Royals honor victims
Prior to Sunday's game, the Royals honored the three families affected by the hate-crime shooting last February at Austin's Bar & Grill in Olathe, Kan.
A man shot and killed Srinivas Kuchibhotla and wounded Alok Madasini, both of whom are from India.