Vaughn played the final three seasons of his 12-year career with the Spurs, who announced the move Friday. He was point guard Tony Parker's backup when San Antonio won the NBA title in 2007.
The former Kansas star spent his first four seasons with the Utah Jazz, who took him with the 27th pick in the 1997 draft. He also played for Atlanta, Orlando and New Jersey, averaging 4.5 points and 2.5 assists in 776 career games. He retired in 2009.
Vaughn is No. 2 on the all-time assists list at Kansas with 804 over four years.