Mulenga was signed as a free agent after being released by SuperSport United, and he is expected to start training with his new teammates on Wednesday
Mulenga struggled to cement his position during his time with Matsatsantsa, and the Tshwane side had intensions of releasing him later this year.
Speaking to the Aces website after putting pen to paper, the Zambian international vowed to create and score goals for AmaZayoni.
“I’ve always had soft spot for Aces and I intend to both scoring and providing opportunities for the strikers,” said Mulenga.
Mulenga scored 11 goals for Aces during the 2009/10 season when they were promoted to the PSL. He then left for Bloem Celtic the following season.
The 26-year-old Mulenga is delighted to be back with MP Black Aces, and he is looking forward to working with coach Clive Barker.
He added: “Aces is a big team with a great squad and a fantastic coach and the set-up here is very professional.”