The towering defender is hopeful of getting the chance to prove his worth at the Allianz Arena and believes he will not regret joining FCB
Kirchhoff, 22, realises that he faces stiff competition from the likes of Jerome Boateng, Holger Badstuber and Dante among others, yet he has little doubt that he will get his chance.
"There is a lot of competition for places, but I am really looking forward to the challenge," Kirchhof was quoted as saying by Kicker.
"Bayern are the right choice for me."
Kirchhoff came through the ranks of the Eintracht Frankfurt youth academy before joining Mainz in the summer of 2007 and has been capped at Under-21 level for Germany.
The centre-back had an expiring contract at Mainz and reached an agreement with Bayern over a three-year deal back in January.