The midfielder's move to SuperSport had been delayed as United had not yet put pen to paper on the payout of the last six months of his contract to ensure his immediate release.
But Chippa boss Chippa Mpengesi has confirmed to KickOff.com that those conditions have now been met and Mayambela is free to leave.
The 28-year-old's agent has confirmed that his client has signed a two-year deal and he will join the Tshwane club immediately during the current transfer window.
Mayambela has been handed jersey number 14 at SuperSport.
His younger brother Mihlali completed a move to Swedish club Djurdardens yesterday.