United will welcome the National League side to the Sands Venue Stadium for a 12noon kick-off.
Scunthorpe were away at Crawley Town at the corresponding stage of the competition last season, while they hosted Burton Albion in the campaign prior, beating the Brewers 2-1.
The Moors made it to Round Two of the competition in 2019-20, beating Barrow in the Fourth Qualifying Round before seeing off Oxford City to set up a home tie against Rotherham United, which they were edged out 4-3, despite being 3-0 up after 62 minutes.
The cup matching sets up the first-ever meeting between the two sides.