You cannot substitute a player out if you have no substitute to go into the game. If the coach only has 5 players on court and wants to have a player come off and have a rest, he can only do so with the referee's OK and during a dead ball period as leaving the court without permission is a Technical infringement. He/she will still need the referee's permission to go back into the game during a dead ball period. That is how I would handle it.
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