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Josh Parker has signed a two-year deal with the Gills.
The 26-year-old forward spent the second half of last season with the club.
Parker made 16 league appearances for Gillingham last season, 11 of those off the bench.
His two goals came at home against Port Vale and in a 4-1 defeat at Rochdale.
Parker’s performances during his brief time with the Gills led to him being offered a new deal by head coach Ady Pennock.
When he first joined the Gills, he spoke about a troubled year which he had left behind.
He becomes Pennock’s fourth signing of the summer.
Prior to Parker's decision to sign, the Gills added Alex Lacey, Luke O'Neill and Gabriel Zakuani to their squad.
Parker said: "I am is delighted to be back at Gillingham as a full time professional and cannot wait to get started."