Kubalik, a forward, signed a two-year contract with the Red Wings ($2.5 million AAV) on July 13.
Filip Zadina had a goal and an assist, and Victor Brattstrom stopped 19 of 20 shots in 30:36 for Detroit in its first preseason game. Sebastian Cossa made 12 saves in relief.
Brock McGinn and Bryan Rust scored for the Penguins. Tristan Jarry allowed four goals on 14 shots in 28:24, and Casey DeSmith made five saves in relief.
McGinn gave Pittsburgh a 1-0 lead at 1:42 of the first period, but Kubalik tied it 1-1 with a power-play goal at 15:42.
Zadina scored 23 seconds into the second period to give the Red Wings a 2-1 lead, and goals by Elmer Soderblom (5:01) and Steven Kampfer (power play at 6:55) 1:54 apart later in the period made it 4-1.
Rust scored to make it 4-2 at 13:16 of the second, but Tyler Spezia gave Detroit a 5-2 lead 2:34 into the third period.
Kubalik scored shorthanded for his second goal of the game at 10:20 to make it 6-2.
