Home draw for the Gills.
Gillingham will play National League side Woking at MEMS Priestfield Stadium in the first round of the 2020/21 Emirates FA Cup.
The draw was made on Monday evening live on BT Sport by Grant Holt, and it will see Steve Evans' side play at home for a place in the second round against a team which contains former Gills winger, Matt Jarvis.
Full draw:
Leyton Orient v Newport County
Havant and Waterlooville v Cray Valley
Sunderland v Mansfield Town
Bolton Wanderers v Crewe Alexandra
Oxford United v Peterborough United
Exeter City v AFC Fylde
Tonbridge Angels v Bradford City
Walsall v Bristol Rovers
Rochdale v Chesterfield
Swindon Town v Darlington
Barnet v Burton Albion
Wigan Athletic v Chorley
Tranmere Rovers v Accrington Stanley
Oxford City v Northampton Town
Maldon and Tiptree v Morecambe
Bromley v Yeovil Town
Torquay United v Crawley Town
Eastbourne Borough v Blackpool
Cheltenham Town v South Shields
Stevenage v Concord Rangers
Harrogate Town v Skelmersdale United
Gillingham v Woking
Charlton Athletic v Plymouth Argyle
Hayes and Yeading v Carlisle United
FC United of Manchester v Doncaster Rovers
Salford City v Hartlepool United
Scunthorpe United v Solihull Moors
Hull City v Fleetwood Town
Colchester United v Marine
Barrow v AFC Wimbledon
Dagenham & Redbridge v Grimsby Town
Cambridge United v Shrewsbury Town
Brackley Town v Bishops Stortford/St Albans City
Eastleigh v MK Dons
Hampton and Richmond Borough v Oldham
Boreham Wood v Southend United
Ipswich Town v Portsmouth
Port Vale v King's Lynn Town
Lincoln City v Forest Green
Banbury v Canvey Island
Fixtures will be played the weekend of November 6-9. More information will follow.