He started his coaching career for Palermo, where he relocated with his family after Czechoslovakia was occupied by the Soviet Red Army after the Prague Spring.

But, in 1971, after the sudden death of Armando Picchi, Vycpálek was named new head coach of Juventus.

It was the beginning of a successful period which led the team to two consecutive scudetti, in 1972 and 1973, and to the final of European Cup lost against Ajax.

The team was also runner-up in the intercontinental cup taking Ajax's place, due to a 1–0 defeat against sudamerican champions Independiente.

Vycpálek died on 5 May 2002 in Palermo, the same day of the Juventus' triumph in the 2001–02 Serie A, and exactly thirty years after the death of his son Cestino in the Alitalia Flight 112 crash that happened in 1972.