Gascoigne will now pull on the white shirt of England again for a one-off rematch.
Tears As Toon Legend Returns To St James' Park?
Sir Bobby has organised the match at St James's Park, on July 26, to raise funds for his cancer charity.
Gazza: "I've always idolised Sir Bobby - he looked after me like a father.
"He's supported me through tough times, and it'll be a privilege to play for him again."
Sir Bobby Robson: "I'm thrilled Paul is in shape and ready for my match.
"He is the most naturally-gifted player of his generation, and it will be special to see him once again grace St James's."