In his first term, Modi had addressed the nation on 53 occasions through his monthly broadcast after coming to power in 2014.
On February 24, days before the Lok Sabha elections were announced, he had suspended his monthly broadcast for March and April.
Confident of his return, Modi had said he will be back with the programme on the last Sunday of May.
The BJP-led NDA returned to power with a massive mandate and Modi was sworn in as the prime minister on May 30.
While discontinuing the programme, Modi had said he was doing so keeping in mind healthy democratic traditions.
"Mann Ki Baat is back again as PM Narendra Modi assumes office for the second term. Your stories, ideas & suggestions can be a part of this month's episode, scheduled on June 30, 2019," MyGovIndia said in a tweet.
Prasar Bharati News Services also sought suggestions from people for the programme in a tweet.
"PM Modi's Mann Ki Baat is back again! Want your ideas/inputs on Mann Ki Baat, share them on (link: http://mygov.in) mygov.in or dial 1800-11-7800," it said.
Modi had signed off the last episode of the radio programme in February ahead of the Lok Sabha polls. He had expressed confidence of his party's victory in the elections and had said that the radio programme would resume after the polls and he wished to talk to people through it for years.
The programme is broadcast on the last Sunday of the month.