The Leeds boss has been explaining the decision to allow the 40-year-old to face his parent club when the two sides meet on Saturday.
Taylor, who has joined the Lions on loan until the end of the season from the Elland Road club, has made two starts since arriving at The Den.
"He's been a great pro over the years and he's got a chance to go there and do some coaching," Warnock told the Yorkshire Evening Post.
"He's 40 years of age and I didn't feel that I could restrict him from that career.
"He'll be leaving here on a free transfer at the end of of the season anyway."