Defending champions Germany will start against Mexico after Saturday's draw threw up some mouthwatering clashes.
Five-times winners Brazil will face Switzerland in their first Group E match with Costa Rica and Serbia making up one of the tougher-looking of the eight groups.
European champions Portugal will play Iberian neighbours Spain in their first match in Group B, while Argentina were placed in Group D with newcomers Iceland, Croatia and Nigeria.
England will face the other debut nation Panama in Group G in which Belgium are the top seeds.
