Prosser, who has been at Millbrook since 2006, will coach the Heritage High School Pride beginning this fall.
The hiring of Prosser by Heritage was approved Tuesday night at a meeting of the Loudoun County Public School Board.
The Pioneers were 6-5 last season under Prosser. Millbrook opened the season with a loss to Tuscarora and ended it in the first round of the playoffs with another loss to the Huskies.
Under Prosser, the Pioneers made the playoffs in five of the last six seasons including an appearance in the Region II title game in 2007.
Prosser was 40-36 overall at Millbrook.
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