The Republic of Ireland have been handed a favourable group in the Euro 2020 qualification draw which took place in Dublin on Sunday morning.
Germany's failure in the newest global tournament, being relegated from a group including Netherlands and France, meant they dropped into the second seeds and they were once again paired with their fiercest rivals Netherlands.
Joining them in Group A are: Czech Republic, Bulgaria, Montenegro and Kosovo.
Wales will come up against World Cup finalists Croatia as well as Slovakia, Hungary and Azerbaijan.
The semi finals and final will be held at Wembley.
Ireland were beaten int the World Cup play-off, before the two sides played out two scoreless draws in their League B Nations League group.
England's group in the Euro qualifiers.
England were the first team drawn out of the hat in the draw in Dublin and are in a Balkan-flavoured Group A along with the Czech Republic, Bulgaria, Montenegro and Kosovo, who are making their first appearance in a qualifying competition for a major tournament.
Group F: Spain, Sweden, Norway, Romania, Faroe Islands, Malta.More news: Tweets document damage after 7.0 quake rocks Alaska, sparking tsunami warning
Group C: Netherlands, Germany, Northern Ireland, Estonia, Belarus.
Belgium, in Group I, face Russia, Scotland, Cyprus, Kazakhstan and San Marino, while Italy, Bosnia-Herzegovina, Finland, Greece, Armenia and Liechtenstein are in Group J.
Regarding Ireland once again facing Denmark, McCarthy said that is about time that Ireland starting taking point from Christian Eriksen and Co.
Ireland dodged a virtual bullet at the draw as McCarthy's side were initially drawn in Group C alongside the Netherlands and Germany, but were moved to Group D due to the UEFA draw rules, which stated that no more than two host national sides could be placed in the same group.
A further four place will be up for grabs in March 2020, when the UEFA Nations League play-offs will take place, a back-door into the summer showpiece for those who did not make it through the qualifying stages.
No team will qualify automatically as hosts, although every host country that qualifies will be guaranteed two home games in the group phase.
It is separate from the Nations League Final Four in June 2019.