Born on 28 February 1955 at Kabwe, Central Province to Mr. Cosmas Mulenga and Mrs. Marianne Yamusebo. In 1962 the family moved to Rosa Mission in Kasama Archdiocese, where he began school. In 1975 he entered Evelyn Hone College in Lusaka und obtained a Diploma in Accountancy and Business Studies in 1979.
In 1989 he started seminary life again in the Pontifical Beda College in Rome. He was ordained Priest on 18 July 1993 by Archbishop James M. Spaita, for the Archdiocese of Kasama. He served in many positions (Treasurer General, Pastoral Coordinator, to mention but two) and places within the Archdiocese of Kasama.
On 23 December 2015 he was appointed Bishop of Mpika, and his predecessor Archbishop I. Chama consecrated him on 12 March 2016; his conconsecrators being Bishop Lungu (Chipata) and Bishop Chisenga (Mansa). As his Motto, Bishop Mulenga chose the words from John 19:26
“Behold your Son, behold your Mother”