The former guard was fired from his role as Tennessee Titans head coach after 32 seasons with the organisation as a player and coach.
Steelers head coach Mike Tomlin told reporters: "I am excited that Mike will be joining our staff at the Pittsburgh Steelers.
"Mike's offensive line background speaks for itself, both as a Hall of Fame player for the Houston Oilers and as a very successful coach with the Tennessee Titans. I look forward to having him join our coaching staff as we have already started preparing for the 2014 season."
Munchak spent 14 years coaching the Titans offensive line before being promoted to head coach.