Botswana Football Association (BFA) chief executive officer, Mfolo Mfolo said the two will clash at the National Stadium as part of Independence Day celebrations.
The Zebras are preparing for a busy October, with back-to-back clashes against Burkina Faso.
David Bright's charges travel to Ouagadougou to face the Stallions on October 10, before the reverse fixture in Gaborone four days later.
The defeat left the Zebras bottom of Group I without a point, as surprise leaders, Mauritania took firm control.
Mauritania, who have never qualified for the AFCON finals, are top with six points, after felling favorites, Burkina Faso 2-0 on Saturday.
Burkina Faso and Angola are joint second on three points, but the West Africans are ahead due to a superior goal difference.
October is expected to be a campaign defining month in the AFCON qualifiers, with back-to-back action during the October 10 to 15 FIFA week.