The Danes are also hoping to begin the tournament with consecutive victories after beating China in their opening game.
Match preview
England were given a much sterner test than many expected in their tournament opener against a Haiti side that ranked 49 places lower than the Lionesses.
Georgia Stanway gave England the lead with her retaken penalty after the initial effort had been saved by Kerly Theus, who had left her line prematurely.
The Lionesses were unable to add to their tally, but they managed to hold firm to get their campaign up and running with a narrow 1-0 win.
After getting off to a winning start, England can secure their place in the last-16 with a game to spare if they win and Haiti draw with China.
Having lost just one of their 33 games under Sarina Wiegman, they will certainly be confident of claiming a positive result on Friday.
Denmark, who are competing in their first World Cup since 2007, got their campaign up and running with a narrow 1-0 victory over China.
Their tournament opener was heading towards a goalless draw, before substitute Amalie Vangsgaard nodded home in the 90th minute to snatch all three points.
Impressively, the Danes have now won six of their last seven internationals, keeping clean sheets in five of those encounters.
They have failed to progress from the group stage in their last two appearances at the World Cup finals, but they can book their place in the knockout rounds if they claim all three points and the other game in Group D finishes all square.
Denmark will also be motivated by the chance to clinch their second win at a World Cup for the first time in their history.
England Women Women's World Cup form:
W
England Women form (all competitions):
Denmark Women Women's World Cup form:
W
Denmark Women form (all competitions):
Team News
England would have been relieved to see Millie Bright play the full 90 minutes in her first competitive game since April after recovering from a knee injury.
With Wiegmann expected to name an unchanged lineup, Bright will feature in a back four alongside Jess Carter, Lucy Bronze and Alex Greenwood.
Alessia Russo is set to lead the line for the European champions, and she will be joined in a front three by Chloe Kelly and Lauren Hemp.
As for Denmark, Vangsgaard may have to settle for a place among the substitutes despite coming off the bench to score her first international goal in the 1-0 win over China.
Like their opponents, Denmark boss Lars Sondergaard could also opt for consistency and name an unchanged side for Friday's contest.
Stine Ballisager will feature in central defence alongside Simone Boye, and the pair will be hoping to help their country claim consecutive clean sheets.
England Women possible starting lineup:
Earps; Bronze, Bright, Carter, Greenwood; Walsh, Stanway, Toone; Kelly, Hemp, Russo
Denmark Women possible starting lineup:
Christensen; Sevecke, Ballisager, Boye, Veje; Hasbo, Holmgaard, Kuhl; Thomsen, Sorensen, Harder