Born in Čáslav, Czechoslovakia, Jarolím began his professional career with SK Slavia Praha before transferring to German club Bayern Munich while still a teenager.

During the 2001–02 season, Jarolím established himself as a key player in the Nürnberg squad, attracting the attention of other top clubs.

However, just before the close of the transfer window in September 2003, the deal was brought forward, allowing Jarolím to play for Hamburg during that season.

During Euro 2008 qualifying he was regularly used as a substitute, making only one start, but did manage a goal in the 7–0 thrashing of San Marino.

[7] However, after only nine days in charge, it was announced that his contract had been terminated by mutual agreement for personal reasons.