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WASHINGTON (AP) ― Sen. Larry Craig returned to the Senate floor Tuesday for the first time since public disclosure of his guilty plea in a restroom sex sting.

The Idaho Republican voted on several bills and lunched with his GOP colleagues, but said there is no change in his previously announced plans to resign at month's end barring a court reversal of his guilty plea.

"We're working through it. My plans have not changed," Craig said in a brief interview with The Associated Press. As for returning to the Capitol, he said: "It always feels good to be back."

Craig entered the ornate Senate chamber around noon and voted on two bills, then joined four dozen GOP colleagues at their weekly closed-door luncheon. Vice President Dick Cheney attended the session, which focused on ethics.

A Republican who attended the lunch said Craig stood up for less than a minute and apologized to his colleagues for embarrassing them. Craig said he has assembled the finest legal team in America and is working to fight the charge.

Another Republican called Craig's presence at the lunch and Senate session awkward.

Craig was a no-show for the first two weeks when Congress reconvened after an August break.

His return Tuesday caught most colleagues off-guard and many said they were surprised to see him.

Several senators -- including John McCain of Arizona, Trent Lott of Mississippi and Senate Republican Leader Mitch McConnell of Kentucky -- declined to comment. McCain was among a few GOP senators who urged Craig to step down following his guilty plea in the June 11 sex sting at the Minneapolis airport, while McConnell called Craig's conduct "unforgivable."

Craig's home state colleague, Sen. Mike Crapo, R-Idaho, openly welcomed Craig back.

"He's a good friend and colleague," Crapo said.

After lunch, Craig chatted and mixed easily with several senators from both parties. Sen. Chris Dodd, D-Conn., clapped Craig on the shoulder and gave him a big smile. Then Craig and Sen. Orrin Hatch, R-Utah, stood and chatted, while the roll call on a bill to give voting rights to the District of Columbia continued.

Craig cast his vote -- no -- then spoke briefly with Sen. Barbara Boxer, D-Calif., who chairs the Senate ethics committee.

The Idaho senator then sat next to Sen. Dianne Feinstein, D-Calif., for a five-minute talk that appeared to be all business.

Sen. Gordon Smith, R-Ore., shook Craig's hand and spoke briefly. Smith later said he had called Craig over the weekend and "we had a nice conversation."

Craig spokesman Dan Whiting said earlier that the senator was back in Washington "representing Idaho, working on transition and meeting with his legal team."

The senator pleaded guilty to misdemeanor disorderly conduct last month after an undercover officer at the Minneapolis airport alleged that Craig solicited him for sex. Craig has denied that, and his attorneys have asked a judge to let him withdraw the guilty plea.

Craig announced that he intends to resign from the Senate on Sept. 30, but a spokesman has said there is a slight chance he may keep his seat if he can withdraw his plea.

He has contended in recent weeks that he had done nothing wrong and said his only mistake was pleading guilty. A Hennepin County District Court judge is scheduled to hear arguments on Craig's motion to withdraw his guilty plea on Sept. 26.

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In 2008, the Human Rights Campaign gave Craig a zero rating, meaning he consistently voted in a manner that did not support the HRC's position of civil equality for the GLBT community.

(© 2009 CBS Broadcasting Inc. All Rights Reserved. This material may not be published, broadcast, rewritten, or redistributed. The Associated Press contributed to this report.)