Jones was sacked by England's Rugby Football Union last week following a year in which England won only five of their 12 tests.
"I'm very much looking forward to returning to Twickenham Stadium - a venue I have so many fond memories of," said Jones. "I'm more motivated than ever to put on a show."
Jones coached the Barbarians in their 33-31 defeat by Fiji in 2019 and his England side were beaten 52-21 by the invitational team in June.
The Australian, who has been linked with the United States side as well as a role back home, said he was looking forward to the May 28th clash with the world team led by former New Zealand coach Steve Hansen.
"Going up against Steve rekindles a great rivalry which started in our days competing in Super Rugby and progressed into the international arena," Jones added.
"It'll be a great challenge and one I'm sure we're both relishing."
