Paul Heckingbottom's side are building towards their Championship opener against Watford on August 1, while Scunthorpe will start their National League campaign against Yeovil Town on August 6.
Match preview
Scunthorpe finished 24th in League Two last season to end their 72-year spell in the Football League, meaning that they will play in the National League during the 2022-23 campaign.
The Iron were a Championship side as recent as 2011, but it has been a difficult few years for the club, and they will be bidding to return to the Football League at the first time of asking next term.
Keith Hill's side have played three friendlies thus far this summer, losing 3-2 to Middlesbrough Under-23s at the start of July before drawing 2-2 with Huddersfield Town Under-23s.
Scunthorpe were victorious last time out, though, beating Leeds United Under-23s 1-0, and they now have friendlies against Sheffield United, Rochdale, Peterborough United, Bradford Park Avenue and Farsley Celtic before starting their National League campaign against Yeovil on August 6.
The Iron have signed three new players this summer, with Elliott Whitehouse, Colin Daniel and Andrew Boyce arriving at the club, but a number of players have moved on at the end of their contracts.
Sheffield United, meanwhile, started their pre-season with a 2-1 victory over Casa Pia on July 8 before recording a 6-0 win over Lincoln City in their last friendly on Tuesday.
The Blades will now play Scunthorpe, Mansfield Town, Burton Albion and Barnsley in their final four pre-season games before beginning their Championship campaign away to Watford on August 1.
Heckingbottom's side finished fifth in the Championship last season, which saw them qualify for the playoffs, but they lost to Nottingham Forest in the semi-finals.
Sheffield United have made three signings thus far this summer, bringing in Tommy Doyle on loan from Manchester City and Ciaran Clark on loan from Newcastle United.
Meanwhile, central defender Anel Ahmedhodzic has arrived from Malmo, and it is understood that the club held off competition from a number of clubs to secure the 23-year-old's signature.
Scunthorpe United Club Friendlies 1 form:
Scunthorpe United form (all competitions):
Sheffield United Club Friendlies 1 form:
Sheffield United form (all competitions):
Team News
Scunthorpe boss Hill will again make full use of his squad in this match, and there is a chance that there could be some trial players included in the contest with Sheffield United.
There were 17 players involved in the team's clash with Leeds Under-23s, and a similar number are likely to be on display in this match, with new signings Boyce and Whitehouse potentially featuring in the side.
Joe Nuttall was involved off the bench against Leeds Under-23s last time out, but the striker could now come into the first XI, while on-loan goalkeeper Marcus Dewhurst is expected to face his parent club.
As for Sheffield United, Rhian Brewster scored twice in the clash with Lincoln last time out, and the forward is expected to feature in the final third here.
Clark, who has just arrived on loan from Newcastle, could feature in the middle of the defence, while fellow new arrivals Doyle and Ahmedhodzic should also be involved in some capacity.
Daniel Jebbison and Ismaila Coulibaly are also likely to be in the starting XI, while Oliver Norwood and Ben Osborn should feature from the first whistle.
Scunthorpe United possible starting lineup:
Dewhurst; Gallimore, Boyce, Taft, O'Malley; Lewis, Shrimpton, Whitehouse; Wilson, Hallam, Nuttall
Sheffield United possible starting lineup:
Davies; Broadbent, Basham, Clark, Robinson; Berge, Osborn, Norwood, Coulibaly; Jebbison, Brewster
We say: Scunthorpe United 1-3 Sheffield United
Both managers will make full use of their squads in this match, which is likely to make it a stop-start affair in the second period, but it still has the potential to be an entertaining match. Scunthorpe are capable of providing competitive opposition for Sheffield United, but the visitors will be too strong here.