The Rovers return comes after just one season in the Conference and was clinched with a nerve-wracking penalty shoot-out against Grimsby Town at Wembley.
Chris Wilder will bring the Cobblers to the Memorial Ground on Saturday August 8 and Clarke told the official BRFC website: “It's always good to begin the season with a home game and the fact that we are once again a Football League club should ensure there will be a big crowd at the Mem to see our return to League Two action.
"They [Northampton Town] will provide us with a tough test but we will be looking to start the season with three points. We only lost two games at home last season and we need to build on that for this upcoming season."