The debate will be held on Tuesday, September 10.
ABC is hosting the debate, which will be in the evening on primetime TV.
The event will likely air live on ABC and be streamed to the 24/7 network ABC News Live, the ABC app and the ABC website.
It is also set to be available on Hulu and via connected devices through Roku, AppleTV and Amazon Fire TV.
David Muir and Linsey Davis will moderate the debate.
The format of the debate has not been announced. The format at the last presidential debate between Trump and Mr Biden was agreed on by both parties and included limits on speaking time, no live audience, and switched-off microphones to allow candidates time to talk without interruption.
The lack of audience was a break with tradition that was specifically requested by Mr Biden’s team.
Mr Trump said that the president was “supposedly afraid of crowds” and said he would prefer a live audience as “it’s just more exciting”.
The candidates’ microphones were deactivated while the other spoke, which was another request from the Biden team. This followed the first 2020 forum where the conversation was dogged by the candidates’ interruptions and cutting-across.
The National Constitution Center in Philadelphia, Pennsylvania, will host the debate.
The first debate, between Trump and Mr Biden, took place in Atlanta, Georgia.
Read more: A guide to the 2024 swing states – and why they could be a problem for Kamala Harris
What issues will the candidates be asked about?
It is likely that the economy, wars in Eastern Europe and the Middle East will see significant airtime.
The Harris campaign will be keen to get across their message on abortion rights for women, which they believe is a key policy for winning the White House on November 5.
Trump is likely to attack Ms Harris on the Biden-Harris administration’s record, particularly on immigration and inflation.
What the candidates have said about the debate announcement
Ms Harris told reporters on Thursday that she was “glad” Trump “has finally committed” to debate her on Sep 10, the date that had originally been set for a Trump to debate Mr Biden and which her campaign has long stuck to.
“I’m looking forward to it and hope he shows up,” she said.
Trump has repeatedly suggested Ms Harris is not intelligent enough to debate him.