INDIANAPOLIS — The Indianapolis Colts rallied from a 10-point deficit to beat the Miami Dolphins, 16-10, at Lucas Oil Stadium on Sunday afternoon. The Colts improved to 4-3 and are above the .500 mark for the first time this season. Quarterback Anthony Richardson returned to the starting lineup after missing two games with an oblique injury and led the Colts on a 12-play, 69-yard scoring drive in the fourth quarter to give them the lead. Kicker Matt Gay made a 22-yard field goal to make it 13-10 with six and a half minutes to play. Dolphins' kicker Jason Sanders missed a 54-yard attempt off of the upright that would have tied the game in the fourth quarter. Gay later added a 38-yard field goal. The Colts defense then stopped the Dolphins on fourth down at the Miami 33-yard line to seal the game. Richardson started 5-of-18 for 64 yards before finishing the game 10-of-24 for 129. He had no interceptions and was not sacked. Both offenses started slowly before Miami found a rhythm with an 11-play, 58-yard scoring drive capped by a Tyler Huntley to Jonnu Smith 10-yard touchdown in the middle of the first quarter. The Colts appeared poised to respond with a touchdown of their own, but Richardson fumbled trying to hand the ball off at the Dolphins' 8-yard line. The biggest play of the drive was a 22-yard run on third down by the second-year quarterback. The teams exchanged punts before Sanders made a 33-yard field goal with 22 seconds remaining in the first half to put Miami up 10-0. The Colts answered in the limited time left in the first half. Richardson connected with wide receiver Michael Pittman Jr. for 33 yards to get into field goal range. Gay drilled a 52-yard field goal as time expired to cut the deficit to 10-3 at halftime. The teams each punted on their first possessions of the second half. Dolphins' running back and Purdue product Raheem Mostert then fumbled on Miami's second drive of the half. Colts linebacker Segun Olubi recovered and returned the ball to the Miami 28-yard line. The Colts took advantage of the short field as Richardson ran for 12 yards, passed to wideout Ashton Dulin for 12 more, and then handed off to running back Tyler Goodson for a 7-yard touchdown to tie the game. The touchdown was the first of Goodson's NFL career. Huntley injured his right shoulder in the third quarter after a hit from Colts' cornerback Kenny Moore II. Huntley was replaced by Tim Boyle for the rest of the game. The Colts inducted tight end Dallas Clark into the franchise's Ring of Honor at halftime. The team's first round pick in 2003 holds the club record for catches and touchdowns by a tight end. Clark was also a member of the Super Bowl XLI championship team. The Colts are back on the road next week for a critical divisional matchup with the AFC South-leading Texans at 1 p.m. on CBS4.