Ireland will be playing away to Denmark for the first leg on Saturday November 11th.
The home leg at the Aviva Stadium will take place on Tuesday November 14th.
Commenting on this draw, manager Martin O'Neill told reporters, "Being unseeded means it was always going to be a difficult tie. We're delighted to be in it."
"I know the Denmark manager. We used to play together. It will be an interesting confrontation.
"I'm delighted to be drawn away from home first, so we'll try to get some sort of advantage, or negate their advantage, before we get to Dublin. That could have a big impact on proceedings, but we have to be going to Dublin with something still to play for. If you ask most coaches, you want the second game at home. But with the rules like extra time, it gives the away team that chance to score in 120 minutes."
"We have momentum and that's important. We won the last two games to get here. I'm now concerned with the next couple of weeks and making sure my players don't get injuries at club level."
Ireland have played against Denmark thirteen times previously, winning five, drawing five and losing three, with the most recent being a 2007 friendly, in which the Danes were defeated 4 - 0.
The draw took place in Zurich at 13.00 today, with the eight best second place teams from the qualifying rounds being pooled in order to determine the next four available European slots in the upcoming tournament.
Drawn by former Spanish captain, Fernando Hierro the other games scheduled are as follows:
Croatia -v- Greece
Italy -v- Sweden
Switzerland -v- Northern Ireland
Public sale of tickets for the home leg will begin at 11:00am on Friday, 20th October, and cost upwards of €30 for adults and €20 for kids - excluding booking fees.
Applications for the away leg can be submitted via the Away Ticketing System on Thursday, October 19.
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