Iyambo passed away earlier this month while on official duty in the United Kingdom (UK).
Mushelenga was sworn-in by Chief Justice Peter Shivute.
Prior to the 2009 general election, Mushelenga was placed 59th on the Swapo-Party’s electoral list of candidates for the National Assembly (NA).
Mushelenga joined the NA as a back-bencher in 2000, and was appointed Deputy Minister of Home Affairs and Immigration in 2005.
A local English daily reported on Wednesday that other candidates above Mushelenga on the list such as Lucia Basson, special advisor to Karas Governor Bernardus Swartbooi and Namibian Ambassador to Austria, Raphael Dinyando turned down the MP seat.
In an interview with Nampa Mushelenga said she is happy to be back in parliament to serve the nation.
Mushelenga told this agency that during her term as MP she would like to contribute to the upliftment of the Women Parliamentary Caucus as according to her, the organisation is not functional.
The Women Parliamentary Caucus was established in 1996 with the aim of addressing common issues confronting women.
“I am a former chairperson of that committee, thus I would want to continue to be a working member of the Women Parliamentary Caucus,’ she stated, adding that she wants to ‘seriously focus’ on advocating issues of gender.