We show that the interplay of cyclotron motion and Andreev reflection experienced by massless-Dirac-like charge carriers in topological-insulator surface states generates a Majorana-particle excitation. On the basis of an envelope-function description of the Dirac-Andreev edge states, we discuss the kinematic properties of the Majorana mode and find them to be tunable by changing the superconductor`s chemical potential and/or the magnitude of the perpendicular magnetic field. Our proposal opens up new possibilities for studying Majorana fermions in a controllable setup.