Denmark humiliated the Republic of Ireland the last time the two sides met.
The Danes won 5-1 in Dublin in November last year to deny Ireland a trip to the World Cup finals, leaving Martin O'Neill is keen to avenge the defeat.
"Denmark, obviously, beat us convincingly about 11 months ago, so I think we would like to redress that if we can, naturally", the former Aston Villa manager told 'Sky Sports'.
"This is part of the preliminary stages of the league itself, the Nations League as it's called, so three points up for grabs as well. We'd like to try to win the game if we can.
"The players are in good form. We all trained today, Shane Long trained as well, and we're ready to go."
Denmark are likely to be without Christian Eriksen, who scored a hat-trick in the win over Ireland last autumn.
"He's a world class player, of course that is true, but in the same way they would look at some of the players we have missing," O'Neill added.
"Players who have done brilliantly for us. Obviously a world class player in our captain Seamus Coleman and, of course, we haven't had the services of Robbie Brady and James McCarthy for some time.
"But we have some terrific footballers including the man sitting beside me [Jeff Hendrick] who's got some experience now and did great in the Euros a couple of years ago.
"I think he's capable now of taking on that mantle and kicking on, not only in his own career but for us at international level.