Selected by the Pittsburgh Penguins in the fourth round (No. 106) of the 1996 NHL Draft, Rozsival made his NHL debut against the Dallas Stars on Oct. 1, 1999, and got his first point in his third game, an assist against the Colorado Avalanche on Oct. 8, 1999. He scored his first goal later that season, against the Carolina Hurricanes on Dec. 15, 1999.
Rozsival played five seasons with the Penguins, then signed with the New York Rangers as a free agent on Aug. 29, 2005. The defenseman had his best offensive seasons with New York. In 2005-06 he tied for the NHL lead with a plus-35 rating. In 2006-07 he scored a personal NHL-best 40 points (10 goals, 30 assists), and in 2007-08 he scored a career-high 13 goals.