Provided the drives are the same, it can be used to recreate your mirror. However, I would not expect it to happen automatically. The drive will have metadata from the server it was pulled from written in it. You'll want to flag the drive as a hotspare, or run a replace member disk operation to make the rebuild kick off. If the OpenManage agent is installed on the server, you can run perform this without down time.
We have an ESX host running on an R710 using RAID 1.  A disk has failed.  We have another ESX host running (although not being used) configured the same way.  Can we pull a disk from the unused host (obviously breaking that mirror) and use that disk to replace the failed drive???  The disks ARE the same.  Is it necessary to wipe/format the drive before inserting to rebuild? Thanks
R710 RAID 1 drive replacement