Monday night's draw sees a repeat of 2013's first-round tieGillingham will start their 2016/17 FA Cup campaign with a first-round home tie against National League North side Brackley Town.
The draw for the opening round proper of the world's oldest competition took place in London on Monday night, and saw the Gills paired up against the Northamptonshire club for the second time in three years.
Town won the last meeting between the sides at the same stage of the competition in a replay in November 2013, following a 1-1 draw at the MEMS Priestfield Stadium.
Ties will be played on the weekend of November 5 and 6. Ticket information will follow in due course.