"North Korea have informed us that they will arrive here on June 19 for the qualifier due to kick off at eight pm on June 22 at the Seoul World Cup stadium," the (South) Korea Football Association said in a statement.
The North Koreans will fly from Pyongyang via Beijing, it added.
North Korea had wanted the qualifier moved to a third country or to the South's southern resort island of Jeju, citing demonstrations in Seoul against the resumption of US beef imports.
The first inter-Korean qualifier was moved from the North's capital Pyongyang to Shanghai after the North refused to let South Korea play their national anthem and fly their flag at the match.
That game, held in March, ended in a goalless draw.
The communist North and capitalist South have remained technically at war since the end of their 1950-1953 conflict.