The new deal with BSkyB will see BBC One and BBC Two retaining the first and second positions respectively on Sky's Electronic Programming Guide, and by autumn this year all 22 national and regional variations of BBC One and BBC Two will be available and listed on the programming guide.
The five-year deal between the two broadcasters was set to be worth £17m a year, a total of £85m, before the BBC announced that it was abandoning the deal in favour of broadcasting via another satellite.
Previously, Sky had charged the BBC £4m a year to carry its channels, which are protected via encryption technology, preventing the channels from being available in other international markets.
The new agreement will see the BBC buy a regionalisation service from Sky, ensuring that viewers in Wales, Scotland and the north of England receive the right national and regional versions of BBC One and BBC Two on the Electronic Programming Guide.
The BBC said it will now withdraw a complaint made in April this year to the Independent Television Commission over the dispute.
When the BBC said it was going to abandon the Sky satellite for another service, the move was praised by the other terrestrial broadcasters, ITV, Channel 4 and Five. All three were reported to be considering similar moves, said to be fed up with paying high fees to Sky.
The BBC has also ended an agreement to pay BSkyB for "solus" viewing cards, which allowed digital satellite viewers without a subscription to Sky to view the BBC's free-to-air channels.
BBC will broadcast again on Sky from July 10.
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