The former forward, who needs no introduction to Glovers fans, becomes the second appointment to Chris Hargreaves’ backroom staff.
Stewart is fondly remembered for his goal scoring exploits in a green & white shirt, most notably scoring against Nottingham Forest in the League One play-offs as Town secured passage to Wembley.
During the later years of his playing career, Stewart held first team coaching roles at Exeter City, eventually working as a full-time coach following his retirement in 2011.
One year later, he joined hometown club Bristol Rovers as a development coach, but quickly became assistant manager within a year of his arrival.
He held the role as assistant when the Gas were promoted from the National League in the 14/15 season, followed by a second successive promotion into League One the next season. Departing in 2018, Stewart joined Walsall as assistant alongside former Rovers manager Darrell Clarke.