The 42-year-old, four-time MVP said that "this is it" in a press conference on Wednesday, just days after signing a one-year contract extension with the Steelers.
Rodgers, who won the Super Bowl with the Green Bay Packers in 2010, spent 18 years in Wisconsin before joining the New York Jets in 2023.
He joined the Steelers in 2025, taking them to the playoffs before defeat to the Houston Texans.
The deal reunites him with his former Green Bay Packers head coach Mike McCarthy, who joined the Steelers in January after Tomlin stepped down in the wake of Pittsburgh's playoff exit in the wild card round.
"There's definitely a full-circle aspect to it that piqued my interest," the 42-year-old Rodgers said of playing for McCarthy again.
Rodgers acknowledged that there was "some doubt for sure" as to whether he would return for a 22nd season.
"But I had a good conversation with Mike going back to when he was hired and it's nice to come back.
"It felt different than last year, because I knew some of the guys and some of the people who work here and stuff, so it felt good coming in."
Rodgers spent the bulk of his career working with McCarthy in Green Bay, where the duo won a Super Bowl together in 2011 -- ironically against the Steelers.
Rodgers's future had been in question ever since the Steelers' playoff exit in January, when the veteran quarterback was sacked four times and was held to just 17 completions in a bruising 30-6 loss to the Houston Texans.
However, speculation that he would return increased after the Steelers opted to hire McCarthy, who made no secret of his desire to see Rodgers keep playing.
On Wednesday, McCarthy said everyone around the Steelers was "extremely excited" when Rodgers's return became official.
"I think that speaks for itself and speaks volumes of what he's established in just his short time here," the coach said.
The California native, along with his four MVP titles, has been selected for the Pro Bowl 10 times.