The former Houston Texans head coach has been appointed as the AFC North side's new offensive coordinator.
Kubiak told the team's website: "I remember studying Dennis, and I'm very impressed with him as a player. I know he went through a tough year this year with getting injured, but that position has always been a big part of our offense. I'm sure it won't be any different."
Kubiak has also brought in a new tight ends coach for the 2014 season.