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Johnson told the Scunthorpe Telegraph: "A number of clubs showed an interest but I spoke to the gaffer here back in May and I liked what he was saying.
"I was bitterly disappointed things didn't work out at Gillingham last season. I was fit and felt I could have done a job for them.
"But I had no qualms about dropping down to play in League One - or signing for Scunthorpe United.
"I know they had a great season last year, winning promotion.
"I have also spoken to Chris Hope at Gillingham, who spoke highly of his time here at Scunthorpe.
"I'm just looking forward to having a good pre-season and can't wait to get going."