Britain, who will play Belgium in this year's final in November, will start their 2016 campaign at home against Kei Nishikori's Japan, 85 years after their only previous meeting.
The draw for the World Group, made in Santiago, Chile, also served up Switzerland with a potentially tricky away tie against Italy.
The powerful Swiss, headed by Roger Federer and Stan Wawrinka, have split their past six ties against their neighbour.
World number one Novak Djokovic's Serbia will host Kazakhstan, while France, under new captain Yannick Noah, will host Canada.
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The first round ties will be played March 4-6. Under Davis Cup regulations, the home team chooses the surface.
(Reporting by Andrew Both in Cary, North Carolina)
