Orlando led 58-37 at the break, sparked by Davis and Redick, who each had 15 first-half points.
Despite a roster dealing with several early-season injuries, Vaughn substituted liberally in the early going, playing nine different players.
The fresh legs helped the flow of the offense, with the Magic moving the ball well and getting assists on 16 of their 24 field goals for the half.
The Nuggets, who scored just 38 first-half points in their season-opener, managed only 37 in the opening 24 minutes on Friday.
Nelson said Friday's start was exactly what the Magic needed going forward.
"We're in this together," he said.