The Imps are set to play a friendly against first division Watford on July 31.
Paul Mayo signed for Watford back in March in a deal worth £105,000, and the left-back quickly established himself in the Hornets' first team, helping them stave off relegation from Division One.
The 22-year-old admits he will enjoy the opportunity to play at Sincil Bank again.
"It will be fantastic to come back and play against my friends," said Mayo, who scored nine goals in 125 games for the Imps. "And it's certainly a game I don't want to lose because I'll never hear the last of it!
"It will be strange playing against my mates - I'll have to remember not to walk into the home dressing room!
"I got some stick while I was at Lincoln, but most people were great towards me. I left without being able to say 'goodbye' to the fans so it will be nice to put that right."
Watford to visit Sincil Bank
Coming back to his home town