The Barbarians hit back to beat Wales 31-28 in a nien try thriller in Cardiff last summer and the return clash on Saturday, 2 June (kick-off 2.30pm) will give Warburton's men the chance to gain revenge before they head down under for a three Test series with Australia.
Kirwans' squad, which will contain legendary figures such as Shane Williams, Stephene Jones, Lewis Moody, Joe Rokocoko and Cedric Heymans, will open their three-match tour with a game against England at Twickenham Stadium on Sunday, 27 May. They then meet Ireland at Kingsholm, Gloucester on Tuesday, 29 May before travelling to Cardiff to face Wales.
Tickets for all three matches are now on sale via www.ticketmaster.co.uk and the WRU are expecting another big crowd for what is becoming a traditional end of season - pre-summer tour international outing for the Welsh national side.
Kirwan caused plenty of problems for Wales as a player, with eight tries in three matches with the mighty All Blacks, and ended with 35 Test tries from 63 caps. He then switched to rugby league before heading into coaching.
"As a boy I got up in the early hours of the morning to watch the All Blacks against the Barbarians when Gareth Edwards scored that awesome try in 1973. It inspired me to want to be the best and it was my dream as a player to be a Barbarian," said Kirwan.
"So the honour of being invited to coach them will be one I will remember forever. The Barbarians are putting together a very strong squad and our goal on this great tour will be to inspire young people to play with flair, ability and passion."