The 30-year-old Serbian has been without a permanent coach since parting company with Marian Vajda in May, with Andre Agassi stepping in as a temporary advisor at Grand Slams.
But Djokovic has endured a difficult 2017, slipping to 12th in the world rankings. And in response he has turned to Stepanek – news he confirmed in an Instagram Live.
The 39-year-old ended his lengthy playing career in November last year and will join Agassi as part of Djokovic’s staff, working primarily at ATP Tour tournaments.
A quarter-final appearance at Wimbledon in 2006 was Stepanek’s best singles performance in a Grand Slam, but in the latter years of his career Stepanek excelled in doubles, winning the US Open, Australian Open and Davis Cup (twice). He also won the Davis Cup with the Czech Republic in 2012 and 2013.
Djokovic will make his comeback at the Mubadala World Tennis Championship in late December before starting his competitive season in Doha.