The game will be played on Jan.8, which is Kim Jong Un's birthday.
Rodman is the highest profile American to meet Kim since the leader inherited power from his father in late 2011.
Rodman calls the game his version of "basketball diplomacy."
"My previous travels have allowed me to feel the enthusiasm and warmth of fans," Rodman said. "The positive memories and smiles on the faces of the children and families are a testament to the great efforts we have put into fulfilling our mission wherever we go voiding any politics. We are all looking forward to arriving in Pyongyang, meeting the citizens, visiting various charities and using the opportunity to develop new relationships that result in our annual return."
Rodman made his latest visit to North Korea shortly before Christmas to train the North Korean basketball team, though he did not meet with Kim.
Rodman said his trips would not be affected by the recent execution of Kim's uncle.
Rodman has been criticized for not talking about North Korea's human rights record, described as one of the world's worst by activists, the U.S. State Department and North Korean defectors. The defectors have repeatedly testified about the government's alleged use of indiscriminate killings, rapes, beatings and prison camps holding as many as 120,000 people deemed opponents of authoritarian leader Kim Jong Un, the third generation of his family to rule.
Looking at Rodman’s team
Rodman won five NBA championship titles with the Detroit Pistons and Chicago Bulls. He was a fierce rebounder and defender, winning Defensive Player of the Year twice.
Anderson, the No. 2 overall draft choice of the New Jersey Nets in 1992, played for nine teams covering 15 seasons. A dazzling ball-handler and passer, Anderson made the 1994 All-Star team.
Robinson spent 17 years in the NBA. He was named to the 1994 NBA All-Start team won the sixth man award 1996.
Baker spent 14 years in the NBA and was a four-time all-star.
Hodges, known for his three-point fprofiency, spent 10 years in the NBA and led the Association in three-point percentage twice.
Christie played 11 seasons in the NBA and was named to the NBA’s All-Defensive First team in 2003.
Smith was the No. 3 overall pick in 1988 draft and he played for three teams spanning nine-years.