Question: Is there a penalty for having too many defensive players on the field at the start of an inning? At our minor division game last night, one of my kids that was supposed to sit the bench that inning went back out to the outfield.  The umpire said play, and and we made two quick infield outs before the confusion in the outfield was noticed by one of my players, who then came running back in.  (I know, I know, you're wondering how I could make such a bone-headed mistake, but we play four outfielders, so it always seems crowded out there, and most of the outfielders don't know the rules anyway!)  The umpires then took away those two outs and brought back the first batter of the inning, essentially starting the inning over.

Was this correct?  Is there even any precedent?