The four-time world champions' last attempt to reach the competition ended in a play-off defeat to Sweden in Nov.2017, their first failure to qualify in 60 years.
It resulted in the departures of manager Gian Piero Ventura and federation head Carlo Tavecchio, not to mention public fury and embarrassment at such a humiliating failure for an international football institution.
Leipzig did not disclose THE financial terms of the deal, but said the 20-year-old centre back would join on July 1.
"Mohamed Simakan is a robust defender... who... can play both centre-half and full-back," Leipzig sporting director Markus Kroesche said in a statement.
Motsepe replaces Ahmad Ahmad of Madagascar, who was elected four years ago but suspended last November on corruption charges.
His election was agreed in a deal brokered by FIFA president Gianni Infantino a week before the election, with two of Motsepe's three opponents set to be appointed as CAF vice presidents.