The 47-year-old left the City Ground in 2009 after a 12-year spell with the club, and the former Sheffield United academy director has admitted that he has always had close affinity with Nottingham Forest.
Pemberton told the club's website: "I've got great affection for Forest. It is a club I know really well.
"It's about trying to bridge the gap between manager Sean O'Driscoll and his staff at first-team level and Nick Marshall and Gary Brazil at academy level."
Nottingham Forest are currently in 11th place in the Championship table.