England & Scotland kept apart for Euro 2011 play-off
Pearce has been in charge of the England U21 side since 2007
England and Scotland have avoided each other in the play-offs for places in the 2011 European Championship finals in Denmark next June.
Scotland, who won qualifying Group 10, will take on Iceland, with the second leg being played on home soil.
England will play their home leg first against Romania after a 3-0 win over Lithuania saw them through as one of the four best group runners-up.
The play-off matches will take place between 8 and 12 October.
England coach Stuart Pearce, who guided the U21's to the final in 2009, expects a tough encounter with the Romanians, who won their last four matches to eclipse Russia and top Group One.
"At this stage of the competition, whoever anyone plays it is going to be tough, but we feel as though we have got a very, very tough match, playing Romania," Pearce said.
"They qualified extremely well and very strongly with a good record. But the opportunity to get to the finals in Denmark next summer is a big opportunity for the seven nations that get there.
"We're very excited by it but, as we've seen before in qualification, matches that look easier on paper are not so easy and really, really tough games don't turn out the way you think they will."
Pearce's side needed to win their last two matches against Portugal and Lithuania to be sure of progressing, and the former England defender feels the experience of competing in such important games will benefit them against Romania.
"The important thing for us is the experience of Portugal and Lithuania, and playing under pressure, might help us next month when we go into sudden death play-offs," he said.
Against the Lithuanians, two goals from Sunderland's on-loan forward Danny Welbeck and a first international strike for Marc Albrighton of Aston Villa settled England's nerves after a goalless first hour.
Major nations such as European champions Germany and France have not even reached the play-offs and Pearce believes he can learn lessons from their failures and the problems his team has had in qualification.
"The experience these players would get from being at a major tournament would be fantastic but a number of teams who reached the last finals have found themselves under pressure and I think some of that is down to preparation time," added Pearce.
"Other nations have got time to bed their players in but it has taken me the best part of a year to get to know this group a little bit more.
"I think I've learned a lesson which will help me in the future - hopefully we'll make another major tournament and hopefully I'll have to blood one or two youngsters to help prepare the team for what happens after that."
Scotland Under-21 manager Billy Stark was playing down suggestions that the draw had been kind to his side.
"Iceland are a country that exports players to good leagues across Europe," he told BBC Scotland.
"We'll have our work cut out but are pleased to have been in the draw and we'll look on it as an opportunity.
"If I can put it into perspective, Iceland are very happy to have been drawn against us, so that gives us an indication of how tough it will be.
"But, with this group of players, they have shown that they can handle big games and they don't come any bigger than the two games against Iceland."
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