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.