The 22-year-old left back was a consistent performer for Stellies during his two seasons with the Cape Winelands club following a transfer from Kaizer Chiefs in 2023.
Mdaka, who reunites with former Amakhosi coach Arthur Zwane at Usuthu, had previously joined the club for a trial period while still a DStv Diski Challenge player, but he wasn't offered a deal.
Now back at AmaZulu and having made a successful debut in the 1-0 win over his former club on the opening day of the new Betway Premiership season, the defender is eager to make a mark.
"I wanted to be here. It just delayed a bit," Mdaka explained in the Sowetan.
"I was just unfortunate to leave and then come back again, but I'm not surprised. I know coach Arthur from development levels. I know what type of a coach he is, so me being here is not a coincidence. I want to be here.
"He is an easy-going coach as a person, but then obviously, during training and match days, he is very demanding. He expects the best out of his players. He is a top coach and [an] even better human being, so it has been great working under him."
On his time at the club so far, the player added: "It has been a good one if I'm being honest, the training sessions have been amazing. Playing the previous game, I was very happy. I feel like every player coming from outside playing in their new team obviously wants to start the first match of the season for any team.
"I'm getting along with the guys, and I'm trying to form a chemistry with some of the players, so it has been good."
AmaZulu next play Sekhukhune United in the MTN8 quarterfinals on Sunday.
