Lipka, 32, first signed for the Tigers in November 2016 and made 118 appearances before departing last summer to travel the world.
Manager David McGurk said: “We are delighted to bring Janni back to the club. I’ve been in constant contact with him over the last year where he’s been travelling. We all know what he adds on the pitch and off the pitch he’s a humble, hardworking lad who I have a lot of time for. He had some great understandings with players such as Pratty and he will hit the ground running with us.
“We have put a lot of focus into the recruiting down the spine of the team. I’m hopeful we can get another 1 or 2 new signings committed to us in the next week or so. We will keep fans informed as best we can with all the incoming players and any outgoings.”
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