Spatial characterization of the sound field in a room is a challenging task, as it usually requires a large number of measurement points. This paper presents a probabilistic approach for sound field reconstruction in the modal frequency range for small and medium-sized rooms based on Bayesian inference. A plane wave expansion model is used to decompose the sound field in the examined domain. The posterior distribution for the amplitude of each plane wave is inferred based on a uniform prior distribution with limits based on the maximum sound pressure observed in the measurements. Two different application cases are studied, namely a numerically computed sound field in a non-rectangular two-dimensional (2D) domain and a measured sound field in a horizontal evaluation area of a lightly damped room. The proposed reconstruction method provides an accurate reconstruction for both examined cases. Further, the results of Bayesian inference are compared to the reconstruction with a deterministic compressive sensing framework. The most significant advantage of the Bayesian method over deterministic reconstruction approaches is that it provides a probability distribution of the sound pressure at every reconstruction point, and thus, allows quantifying the uncertainty of the recovered sound field.