It will take place on June 29, almost 20 years to the day since the Monarch presided over the official opening of Parliament which saw it assume legal powers.
The ceremony will also be attended by Prince Charles - or The Duke of Rothesay as he is officially known here in Scotland.
Presiding Officer Ken Macintosh said: “Since the Scottish Parliament was established nearly two decades ago, Her Majesty The Queen has given us her unwavering support. She addressed the newly elected MSPs in July 1999 as we assumed our legislative powers and she has visited Holyrood many times since. Each time with messages of friendship and support."
The occasion will also see MSPs joined by some of the young people who were born on 1 July 1999. These ‘1 July babies’ have grown up with the Parliament and were an integral part of the Parliament’s 10th anniversary events in 2009.