The defender came close to joining West Ham at the time.
Ten Hag said: We have always been happy with Harry Maguire, but he wants to play. He is an excellent player, a very good defender and calm on the ball.
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"When I put all the skills together now that we have problems in the back chain, he is even more important when we play up from deep.
"So we are very pleased that he is here so that we can achieve our goal."