Santana, sacked by 2010 World Cup hosts South Africa in October, signed a one-year deal with Botafogo, who fired Estevam Soares after last weekend's humiliating 6-0 defeat by Vasco da Gama in their third match of the Carioca championship.
"I thought I was going to get a bit more holiday. But life doesn't stop... When I'm out of Rio for a time, I miss it," Santana told reporters.
Soares had been in charge of Botafogo for five months, steering the club clear of relegation in the Brazilian championship in December.
The 61-year-old Santana is taking charge of Botafogo for the third time, having led them to the Carioca (Rio de Janeiro) state championship title in 1997 and another less successful spell in 2000.
He has won the Carioca title with Rio's four big clubs - Flamengo, Fluminense, Vasco and Botafogo.
Goias also sacked their coach Helio dos Anjos this week after losing their three matches so far in their state tournament.
Jorginho, who had a spell as interim coach at Palmeiras last year, has been named as his replacement for the season.
The Brazilian seasons starts with 27 state tournaments. The national championship kicks off in May.
