Taylor, pictured, guided United from 1995-96 and the Quakers from 2000 to 2001. He will link up at Garden Walk with his son Scott, who was fitness coach at Cambridge and now does a similar job at Royston.
Officials at Garden Walk say Taylor’s brief is to identify new players for Steve Castle's EVO-STIK League Southern Division One Central side who have lost out in the last two play-offs.
The 64-year-old recently returned to the UK after a season managing Norwegian third tier side Flekkeroy where he worked with former Royston player Reece Dobson.
He has also managed the Grenada national team and Finnish side Kemi Kings along with Margate, Farnborough, King's Lynn, Boston United and Belper. In 2010 he became director of football at Spanish club Torrevieja.
As a defender, Taylor made more than 300 appearances for West Ham United and over a 100 for Leyton Orient in the Football League.
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