Manager Ronnie Moore will lead the team onto a platform in front of Rotherham Minster at 1pm, to give people the chance to wish the players luck before Sunday's League Two play-off final against Dagenham and Redbridge.
More than 20,000 Millers supporters are expected to travel to London on Sunday to see their team have the chance to climb back into League One, in what is the club's biggest game in more than a decade.
Today, both the mayor of Rotherham, Coun Rose McNeely, and the leader of the council, Coun Roger Stone, will give speeches in All Saints' Square before the players make their way to the nearby Rotherham Visitor Centre.
Coun McNeely urged people to show their support for the team, and said: "This trip to Wembley is a huge boost for both the club and the town.
"I was there when they beat Aldershot last week and that was a great match, a great occasion and a great atmosphere.
"So I am sure Wembley will be even better and I hope everyone – both players and supporters alike – really enjoy it.
"This event will be both a late thank you for the Aldershot result, but also the perfect opportunity to will the lads on to repeat their performance on Sunday. They will be travelling down to London on Friday and the whole squad – the team, the manager and the coaching staff – need a good send-off and all our good wishes."
The mayor added: "Not everyone likes football, of course, but a successful team makes a huge difference to both local morale and local economics.
"In addition, it would be absolutely wonderful if we can see League One football being played at the proposed new stadium just a stone's thrown from the town centre."