The 34-year-old midfielder, who has been clubless since the end of last season, has been given a one-year contract by Bakgaga after impressing during training.
“Mathebula has signed a one-year plus one-year option for renewal,” said Baroka CEO Morgan Mammila.
Mathebula becomes the second former Chiefs player to join Baroka during the current transfer period after Bakgaga roped in former Amakhosi striker Lewis Macha.
The Zambian striker is also on a one-year deal, with an option of extending it by another year.
The Limpopo-based side has also signed Gift Motupa on a season-long loan from orlando Pirates.