The Rockets broke from a 57-54 halftime lead with an 18-8 run led by Brooks and Kevin Martin. Houston outscored the Pacers 33-15 in the third quarter and Indiana didn't score in the final 2:34 of the period.
Martin finished with 16 points, Chase Budinger had 15, Courtney Lee 12 and Yao Ming 10 for the Rockets.
Roy Hibbert led the Pacers with 17 points and Danny Granger added 16.
Yao continued working back into shape after missing all of last season following surgery to repair a broken bone in his left foot. He has played 12 minutes in each of the Rockets first three preseason games.
The Rockets got the early lead and didn't trail until Jeff Foster hit the first basket of the second quarter. The Pacers led 48-44 with 5 minutes remaining in the half, but Houston regained the lead on consecutive baskets by Budinger, Lee and Scola and took a three-point edge into the break.
Kyle Lowry has a bone bruise in his right knee and sat out for the Rockets. The Rockets came from behind to beat San Antonio on Thursday. Houston rallied to win 15 games last season. ... Indiana held its last 17 opponents to an average of 99.8 points last season and had not yielded 100 points in it first two preseason games. T.J. Ford (strained right hamstring) and Josh McRoberts (sore neck) missed the game for the Pacers.