Evans and assistant Paul Raynor, who has also been restored, left for Leeds United with Rotherham 20th in the Championship in September 2015.
“This club means the world to me,” said Evans. “It’s amazing to be back.”
The 61-year-old has remained friends with Rotherham chairman Tony Stewart since his departure, having overseen a second-placed finish at the New York Stadium in League Two in 2012/13 and victory in the League One play-offs the following season, as well as second-tier safety in 2014/15.
“I’ve said before that it’s ‘once a Miller, always a Miller,'” he reflected. “It’s stopped a couple of approaches from other clubs in this part of the world because I could not manage them.
“I’ve been back here many times but I never thought the opportunity to be manager again would come. It only presented itself on Wednesday, when I got permission to speak to the chairman.
“We came in yesterday morning with the boys and walked out in the stadium and looked around.
“There are lots of memories, some magical moments. I’ve been back in the town for two days now and the support from people has been incredible. I’m so keen to bring them a winning football team.”
Rotherham appointed Richardson in December after a delay of almost a month following their sacking of Matt Taylor.
The League One promotion winner with former club Wigan Athletic could not rescue a dismal campaign which included the frequent unavailability of training facilities because of waterlogged surfaces.
“It’s been a really depressing season for everyone associated with the club,” said Evans, describing Rotherham’s total of four wins from 43 league matches as “unthinkable”.
“To say the fans have got frustrated is totally understandable. They won’t be frustrated from now on – our job is to win matches.
“We want our players to play with a confidence and a swagger. The chairman expediated bringing me in to assess what we have got here, as he did last time.
“He expects us to be challenging. I can serve notice to people now: we will be challenging for promotion next season.”
Stevenage came second in League Two under Evans last season and are ninth in League One after a run of one win in 10 games.
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