"This contract will enable pressurised escape training to recommence at the Submarine Escape Training Facility (SETF) at HMAS Stirling," Combet said.
The SETF simulates the escape from a Collins Class submarine including the effects of water pressure.
This training has been carried out in Canadian facilities in Quebec since earlier this year after negotiations between the former contract holder ASC and the DMO broke down.
The new contract will be for an initial term of two years for a fixed price of $4.32 million.
"TUCF will provide instructors to supply SETF services, including in-water submarine escape simulation," Combet said.
"TUCF has been accredited under the Australian Diver Accreditation System, which demonstrates that it has the professional, diving, training, assessment and business competence to deliver diver training to a standard that is recognised internationally and as industry best practice."
Submarine escape pressurised training for RAN submariners is expected to recommence in Australia late in 2009, following mandatory diver competency training and assessment of TUCF staff by the RAN.