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The match on July 1 will be the only chance for fans to see the Team GB squad before they fly out to Tokyo later that month.
Zambia, who have also qualified for the Olympics, will provide head coach Hege Riise with the chance to run the rule over her side before they travel to Japan.
Team GB, who have been drawn in Group E, will face Chile in the opening game in Sapporo on 21 July, followed by hosts Japan on 24 July before travelling to Kashima to take on Canada on 27 July.
Speaking about the game against Zambia, Riise said: “I’m delighted that we have secured a match on home soil which allows fans to watch us play before we depart for Tokyo.
“It has been a long time since supporters have had the opportunity to watch any of the home nations play, and the chance to see our GB squad compete before the Games is a rare occasion indeed.”
The match is being hosted by The National Lottery, whose funding has helped the Team GB women’s team in their bid to win gold in Tokyo by providing training camps and the squad’s travel and logistics needs.
A limited number of tickets for the match at Stoke City’s stadium are due to go on sale on Friday. Adult tickets will cost £15, with tickets for under-17s cost just £2.50. The match will also be broadcast on BBC Four.