The deal to maintain the supermarket's estate of almost 1,000 stores is worth in excess of £3m per year to the company, which is on target to reach sales of £35m this year.
Ground Control previously held the contract for 24 years, but lost it to Mitie in July 2008. However, this original three-year contract has since been terminated and Ground Control started a new contract at the beginning of June.
Managing director Simon Morrish said: "It was a big blow to us because we had the contract for such a long time and I've always believed that if you give clients a good deal, they will stay with you.
"Luckily though, when we lost the Tesco contract, in many cases we were able to redeploy our staff."
Commenting on the new contract, he said: "We have had to hire a number of new guys and we are delighted to have Tesco back. This brings our client site retention back to over 99 per cent per annum.
"The company has been growing by around 15-20 per cent per annum but the key thing for us is client retention."
He added: "We are really pleased that Tesco has recognised the value that we deliver to its estate and look forward to working with them for another 24 years."