The Zambian coach was linked with the Baroka job last month after he resigned as the head coach of Chipolopolo.
Nyirenda will be assisted by Fani Mthethwa, as well as Thomas Nare (goalkeeper coach) and Social Manamela (physical trainer).
Baroka FC have not had a full time coach since Kgoloko Thobejane was fired for allegedly drinking on the team bus after the game.
Assistant coach MacDonald Makhubedu subsequently stepped down from his caretaker position before the end of the 2017/2018 season.
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