Mosa has replaced Jean-Paul Rabier at the head of the Madagascar national team for a third stint, the country's FA announced on Monday.
56-year-old Rabier and the federation had parted on amicable terms, FA official Solo Rajaonarivelo told AFP.
Rabier, who has coached several second division French teams and the national team of Burkina Faso, was hired in April 2010 with the aim of securing qualification for the next CAF Africa Cup of Nations in Gabon and Equatorial Guinea.
Madagascar's campaign, however, kicked off with two defeats, away to Nigeria (2-0) and at home to Ethiopia (0-1).
Rabier's replacement Mosa is a former captain of the national team in the 1970s and was previously national coach between 1987-90 and in 1994. His first game back in charge will be at home against Guinea on 27 March.