Ironically, it was a former Rotherham defender that sealed Joseph's fate at his former club Blackpool as Shaun Barker's arrival meant he pushed the ex Hull and Peterbrough man down the pecking order. Speaking to the Advertiser Joseph said:
"Shaun went on to play every game and picked up the Player of the Year award. Good luck to him. I have no grudges against him because he did really well, as did all the boys.
"There was a really good team spirit there. We went out together with the wives and stuff like that and were really close and I think that's what helped get the club where it is at the minute."
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Joseph has not had a settled career and he believes this has made him a better person and player.
"I've squeezed a lot into my career," he said. "Getting to work under different managers is good but so is working with different players and testing yourself in situations.
"When I moved from Hull to Blackpool, I moved across the country entirely on my own not knowing anyone. That helped me learn things about myself as a person. I've done all that and the end result is I still want to be playing football now and for a few more years.
Joseph is hoping that his move to South Yorkshire will see him seal his fourth promotion as a player. "I've only been here at Rotherham a few weeks but it's a nice environment to be in and a nice club to be around. I'm aware what's gone on here the last couple of years. The club needs stability and hopefully the new players here can help bring that. We need to level off and push for promotion as soon as possible."