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Steve Clarke's side, who sealed qualification for the finals with two matches to spare, will play in the opening match in Munich on June 14 before games against Switzerland and Hungary.
Scotland lost to Germany at the group stage of Euro 92, a 2-0 defeat preventing the Scots from progressing.
They also faced West Germany at the finals of the 1986 World Cup, where the Germans won 2-1 en route to the final. Germany have won the three most recent encounters, though.
Scotland have never faced Hungary in a competitive match but have won three of their previous nine encounters, while they beat the Swiss 1-0 in Euro 96 at Villa Park — the teams' last competitive encounter.
Clarke told the BBC: "It's nice to open the tournament and nice to be involved in that first game and hopefully we can set the tournament off with a good match.
