South Africa are appearing for the first time since 2010, when they drew with Mexico in the opening match but failed to reach the knockout stage.
Mexico's co-hosts, the United States and Canada, will join the party the next day, against Paraguay and a playoff winner - possibly Italy - respectively in Los Angeles and Toronto.
The draw for the expanded 48-team tournament, with six berths still to be filled via a series of playoffs, was hugely complicated due to various geographical sub-clauses.
However, even the lengthy draw seemed short after an opening ceremony of over an hour that included US President Donald Trump being awarded the new 'FIFA Peace Prize'.
Check out what happened during the World Cup draw here!
Argentina start against Algeria, Brazil against Scotland
Defending champions Argentina were grouped with Algeria, Austria and debutants Jordan, while five-times winners Brazil will play Morocco - semi-finalists in 2022 - Haiti and Scotland.
The Scots are appearing in the finals for the first time since 1998, when they lost to Brazil in the opening game, while Haiti's only previous appearance came in 1974.
France's first game will be against Senegal in a repeat of one of the biggest tournament upsets, when the Africans stunned the then-holders in their first game of the 2002 tournament. Norway and one of the playoff winners complete their group.
England will start against Croatia, who beat them in the 2018 semi-finals, and also face Panama, who they thrashed 6-1 in the group stage in the same tournament, and Ghana.
Debutants Curacao, with a population of 150,000, making them by far the smallest country ever to reach the finals, face Germany, Ecuador and Ivory Coast.
World number one-ranked Spain have a dream draw alongside debutants Cape Verde, Saudi Arabia and Uruguay.
The Netherlands are with Japan, Tunisia and a playoff winner, Belgium have Egypt, Iran and New Zealand, while Portugal face debutants Uzbekistan, Colombia and a playoff winner.
The teams outside the hosts' groups will have to wait until Saturday to find out the venues and kickoff times for their games after football's world governing body, FIFA, attempts to optimise them relating to the various worldwide TV markets.
A newly introduced seeding system ensures that the current top four in the world - Spain, holders Argentina, 2022 runners-up France and England - cannot meet until the semi-final stage if they win their groups.