Simmons missed Penn State's first five games of the season because of an undisclosed injury suffered in training camp.
Kerry Collins, Bobby Engram, and Brian O'Neal led a furious comeback to secure Penn State's first Big Ten era victory over the Spartans.
Saquon Barkley eclipsed 100 totals yards for the fifth consecutive game, and DaeSean Hamilton had his first big game for Denver.
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The Nittany Lions check in at No. 8 following their bye week.
Millen is battling a rare heart condition and will step away from his role as an analyst for BTN as he continues to focus on his health.