Kgomosoane Mathipa taught Law at the University of Limpopo from 1991 to June 1997. He served during this period as Teaching Assistant, Lecturer, Vice Dean and Dean in the Law Faculty.

Kgomosoane Mathipa worked as Researcher to Justice Johann Kriegler at the Constitutional Court from July 1997 to July 1998.

Kgomosoane Mathipa worked as Director: Dispute Resolution at the South African Independent Electoral Commission from July 1998 to October 1998.

Kgomosoane Mathipa worked as Head of Legal Services and the first Chief Operating Officer at the then South African national Department of Water Affairs and Forestry from 1 November 1998 to 31 October 2008.

Kgomosoane Mathipa was called to the Bar in 2009.