The Magpies head to Ukraine for the second leg this week after their goalless first leg draw with Metalist Kharkiv.
Yanga-Mbiwa told nufcTV: "There were lots of positives to take out of the match and we'll go away, try to get one or two goals and come away with a victory."
Yanga-Mbiwa made his full debut against the Ukrainians and says he is determined to build on that opportunity and establish himself at St James's Park.
He added: "I was very excited to get going in the Newcastle shirt. It was good to get my foot in the door and show the team that I can work well with the squad."