The former Italy forward was on Friday appointed as successor to Walter Mazzarri, who was sacked earlier in the day following a disappointing start to the season.
Mancini spent almost four years at the helm at San Siro before losing his job in 2008, winning three Serie A titles in a row and the Coppa Italia twice.
The 49-year-old did not hesitate to take the opportunity to spend a second spell in charge at Inter and is determined to mastermind an upturn in fortunes for a side sitting ninth in Serie A.
"I am happy to return to a club that I consider to be my home, as Inter and their fans always remained in my heart," Mancini told the Corriere dello Sport.
"I prepare for a stimulating and gratifying adventure: we have the derby [against Milan] as soon as we come back from the [international] break, then the match with Roma, one of the favourites for the Scudetto.
"We need to get to work, without wasting time. I embrace all of our supporters."
Mancini will be introduced to the media at a press conference on Saturday.
