Midfielder Jensen, 28, missed the last two matches for Denmark, including their World Cup qualifying win over Albania, after suffering a series of injuries throughout last season.
His last outing for his country was as a late substitute in Denmark's 1-0 win over Ukraine on 30 March and he will be eager to reclaim a place in the 
starting line-up before their World Cup qualifiers next month.
Denmark coach Morten Olsen has kept faith with much of the squad that have helped the side to within four points of second-placed Turkey in World Cup qualifying Group Two.
He has included Everton's Per Kroldrup, goalkeeper Thomas Sorensen of Aston Villa and Dennis Rommedahl, along with Jensen's Fulham team mate - and namesake - Niclas Jensen, who is in line for his 44th cap.
Denmark follow up their match against Sven's men with two World Cup qualifiers, first against Turkey in Istanbul on September 3, then at home against Georgia four days later.
There is intense public interest in Denmark in the visit of Beckham, Gerrard, Rooney and co and the 42,000-seater stadium is now very close to being sold out.
Former Arsenal midfielder John Jensen told TheFA.com: "Every time the England team comes over here to Denmark there is something special because since I was a little boy we have been watching English football on Match of the Day.
"We are very glad that England is coming over to have a game and I am sure that there will be a sell out.
"I think the Danish squad looks very promising. Like England we have some young players that are coming into the team but there are still about eleven or 12 players that have been in the side for a long time."
Sven will name his England squad here on TheFA.com on Saturday night.