The two sides last faced off in August 2013, with Roy Hodgson's men running out 3-2 winners at Wembley, and will renew their rivalry at Celtic Park later this yearEngland will face neighbours Scotland for the second time in as many years at Celtic Park in November.
The two countries' respective Football Associations confirmed on Monday that a friendly meeting will take place in Glasgow on November 18.
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However, England did host Scotland in a friendly at Wembley last August, with Roy Hodgson's men eventually triumphing 3-2, and Scotland boss Gordon Strachan is looking forward to a rematch.
"We have enjoyed an encouraging build-up to our Euro 2016 qualifying campaign and I am sure the players, the coaching staff and the fans will love the chance to go head-to-head with our oldest rivals again," said Strachan on the Scottish FA's website.
"Like our supporters, I was really heartened by the performance against England at Wembley and believe we had a great opportunity to record a win we could all have talked about for years. Now, we have that chance again and I am sure the players and the fans will be even more determined to take it.
"The atmosphere at Wembley was incredible and I am sure with Celtic Park filled with Scotland supporters, it is a game the whole country will look forward to."
Scotland kick off their qualifying campaign for Euro 2016 in September with a visit to newly crowned world champions Germany, while England start their bid to reach the finals with a trip to Switzerland.