Chipolopolo hold a slim one-point lead in the group over Ghana, who defeated the Sudan 3-1 on Friday, to keep their hopes of qualifying for the 2014 World Cup in Brazil very much alive.
Mulenga, who became the first national-team player to score a brace at the Mwanawasa Stadium, received a standing ovation, when he was substituted for James Chamanga in the closing minutes of the match.
The FC Utrecht striket told fazfootball: "I am happy that I scored but I am really happy that we got three points. I think that is the most important thing.
"It feels good to be part of the team, I haven't scored for the national team in a long time and coming back and getting on the score sheet feels good. The confidence in the team is really amazing."
He added: "With today's win we know that we need to work even harder for our upcoming matches because every time you perform well everyone expects you to do even better next time."