"Burleigh turns up off a Chiefs bus and jumped in our team but that is the situation that we are under, thankfully he knows a couple of the boys ... He's very good friends with Noakes, which played a part in the selection of Chris ahead of Lima (Sopoaga)," Joseph said.
"They've got a combination already which allowed those two to have that confidence and I think he was outstanding. Phil has been a delightful surprise given the fact that two or three weeks ago, he wasn't in any of our plans."
Burleigh said it had been a whirlwind start to his Super Rugby season.
"I never thought I'd be in that situation, especially two weeks ago. The [Chiefs] boys gave me a bit of grief [for the move]. But it has been a pretty easy transition, the [Highlanders] have helped me out a lot.
"So it's getting better each week."
The second-five has given himself every opportunity to cement a regular starting sport but he will have to do it without the help of his teammate Noakes who injured an ankle in the tough battle between the two sides.
Noakes who kicked 100 per cent (3 penalties, 2 conversions) was expected to miss at least a couple of weeks, Joseph said.
"It doesn't look good, it looks like he rolled his ankle and he certainly can't walk. Noakes is another one who just got thrown in the deep end a little bit in regards to injuries ..." Joseph said.
"I thought he had a great game given the circumstances, kicked his goals put us in good field position, made the right shots the majority of the time. It's a shame he got injured and looks unlikely for next week."
Burleigh said overall he was happy with his game but had some areas he was keen to work on.
"It was pretty fast, they cranked it up in that last half an hour, so maybe I've got a wee bit to do on my fitness."
Despite the Chiefs making some changes in their backline moves Burleigh, who trained preseason with the Chiefs, said he had been able to read some of their backline plays.
"They may have mixed it up a wee bit but I guess you could read a couple of things they were doing, which gave me a bit of an advantage on [defence]."
The Highlanders take on the Crusaders in Dunedin on Saturday at 7.35pm.