Jarosik signs for Sparta Prague
"We've reached agreement on a contract for two years with an option for an additional year," said Sparta spokesman Ondrej Kasik.
Jarosik played 23 matches for the national side between 2000 and 2005, but has not made himself available in recent years.
He began his club career with Sparta Prague before moving to Russia in 2003. There he enjoyed spells with CSKA Moscow and Samara, while he also played for English sides Chelsea and Birmingham City, and Celtic in Scotland before moving to Spain last year.
The 33-year-old has won national titles in four countries, with Sparta Prague, CSKA Moscow, Chelsea and Celtic.