The Stags will expect to push for promotion into League One after falling at the final play-off hurdle last season, while the Millers will hope to avoid relegation from the Championship having achieved promotion last campaign.
Match preview
Indeed, after a slow start to life in League Two last season, Mansfield were one of the stronger sides in the division throughout the second half of the campaign.
Nigel Clough's side ultimately left themselves too much to do in terms of achieving automatic promotion, finishing three points behind third-placed Bristol Rovers, before losing 3-0 to Port Vale in the play-off final after Oliver Hawkins was shown a red card in only the 35th minute.
The early odds suggest Mansfield should be pushing for promotion once again, though, with Clough's record in the lower divisions during his time at Burton Albion very difficult to argue with.
Only Scott Flinders and Hiram Boateng have joined the club this summer so far, with the pair arriving from Cheltenham Town and Milton Keynes Dons respectively on free transfers, but the Stags are usually busy in the market and their recruitment is unlikely to end there.
Clough will have been satisfied with his team's 1-0 win against local non-league outfit Matlock Town on Tuesday, but the former England and Liverpool midfielder will be acutely aware that Saturday's test against Championship new boys Rotherham will propose a far greater one.
Unlike their forthcoming opposition, Rotherham did not end last season in particularly fine fettle whatsoever, failing to win seven of their last 11 matches as they limped over the automatic promotion line from League One.
Ultimately, however, Millers boss Paul Warne will not care one jot about that. The 49-year-old has now impressively achieved three promotions during his six-year spell at the club, with his greatest mission now clearly being keeping Rotherham in England's second tier for a prolonged period of time.
So far in their attempts to stave off their growing yo-yo status, the club have attracted forwards Conor Washington and Tom Eaves on free transfers from Charlton Athletic and Hull City respectively, while the defence has been bolstered by the additions of Cameron Humphreys, Jamie McCart, Peter Kioso and Cohen Bramall.
Seven first-team players have departed with no incoming cash for their services, though, including Michael Smith and Freddie Ladapo to League One sides Sheffield Wednesday and Ipswich Town respectively, which perhaps illustrates the uphill battle Warne is facing at this lofty level.
Smith and Ladapo scored 35 goals between them last campaign and one of the pair finished as the Millers' top goalscorer in each of the last four seasons; unless further additions are made, then, there is clearly instant pressure on Washington and Eaves to deliver.
Three wins from four represents a solid start to pre-season, even if Warne will be hoping for better against another League Two side after being held by Salford City last time out on Wednesday.
Mansfield Town pre-season form:
Rotherham United pre-season form:
Team News
Boateng showed Mansfield fans exactly what he has to offer the club with a confident finish against Matlock, which ultimately proved enough to earn his side victory, and the 26-year-old will expect to receive another start in midfield accordingly.
Kieran Wallace and Elliott Hewitt have both been ruled out due to injury, though, while Kellan Gordon will be assessed.
Rotherham, meanwhile, could be without McCart due to a knock, but otherwise appear to have a clean bill of health to choose from.
Washington and Eaves could both receive the nod as they look to build an understanding in attack, with Republic of Ireland international Chiedozie Ogbene and Northern Ireland stalwart Shane Ferguson supporting them from wide areas.
Mansfield Town possible starting lineup:
Flinders; Akins, O'Toole, Hawkins, McLaughlin; Boateng, Maris, Quinn; Bowery, Swan, Oates
Rotherham United possible starting lineup:
Johansson; Harding, Wood, Humphreys, Bola; Ogbene, Odoffin, Rathbone, Ferguson; Eaves, Washington
We say: Mansfield Town 1-1 Rotherham United
With both sides in the middle of an intense period of pre-season, we would not be surprised to see a stalemate on Saturday.
Rotherham surely need more bodies through the door if they are to avoid relegation this season, so Warne will be keen to keep his side's unbeaten summer run going in order to boost morale.