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Lawson, 28, is expected to report to Indiana on Sunday.
Forward Chase Budinger will be waived on Saturday to make room for Lawson, league sources said.
Lawson is expected to fill a backup role to guard George Hill.
After a trade to the Houston Rockets last summer led to a failed experiment, the Rockets and Lawson agreed to a contract buyout Tuesday and the guard cleared waivers Thursday.
Lawson averaged 5.8 points and 3.4 assists in 22.2 minutes a game for Houston. In his seven-year career, including six years in Denver, Lawson has averaged 13.3 points and 6.2 assists.
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