ENGLEWOOD, Colo. (AP) — Gary Kubiak has signed a four-year contract to coach the Denver Broncos.

He replaces John Fox, who was ousted a week ago following Denver's 24-13 playoff loss to Indianapolis.

Kubiak's relationship with general manager John Elway goes back 32 years, when they entered the NFL together in 1983. Kubiak spent nine seasons as Elway's backup quarterback and 11 more as Denver's offensive coordinator, including the final four years of Elway's Hall of Fame career.

Elway said in a statement: "Having coached on three Super Bowl teams and 11 playoff teams, Gary knows what it will take to deliver another world championship" to Denver.

Kubiak went 63-66 as coach of the Texans from 2006-13.