The 23-year-old DR Congo international made 13 appearances last season for Stanley and has had previous spells with Blackburn and French club St Etienne.
After confirming his first signing of the summer, Gills boss Martin Allen was in confident mood regarding the midfield's potential impact at the Priestfield Stadium.
"He is a midfield player, he is massive and he was the best central midfield player that played at Priestfield last season," Allen told the club's official club website.
"Before his injuries, it looked like he was heading for the top, and now he is fully recovered, I believe we have a player who can helps us march onwards and upwards."
- Sports & Recreation
- Martin Allen