Jokinen opened the scoring in the first period and re-established it in the third after the Hurricanes had tied the game up at 2-2.
Paul Martin and Tanner Glass also scored for the Penguins, while Eric Staal and Nathan Gerbe tallied for the Hurricanes.
Rookie Tomas Hertl netted four as the San Jose Sharks routed the New York Rangers 9-2.
Hertl, 19, took his tally up to six goals in his third game in North America, while another rookie, Matt Nieto, got his first NHL goal.
PA Parenteau broke a tie early in the third to lift the Colorado Avalanche to a 2-1 win over the Toronto Maple Leafs.
Cory Sarich also scored for Clorado, who claimed their third straight win, while Joffrey Lupul was on target for Toronto.
Craig Berube got off to a winning start as Philadelphia coach as the Flyers beat the Florida Panthers 2-1.
Berube, in for the fired Peter Laviolette, got goals from Brayden Schenn and Braydon Coburn.
John Tavares scored twice and Matt Donovan got his first NHL goal as the New York Islanders beat the Phoenix Coyotes 6-1.
Alex Killorn's overtime winner gave the Tampa Bay Lightning a 3-2 win over the Buffalo Sabres, while Jason Garrison's goal in OT saw the Vancouver Canucks beat the New Dersey Devils by the same scoreline.
The Nashville Predators were also 3-2 winners, over the Minnesota Wild.