Woods has not played in a golf tournament since suffering serious leg injuries in a car accident in February.
Father and son will play at the PNC Championship at the Ritz-Carlton Golf Club Orlando, Grande Lakes, later this month having finished tied for seventh place in 2020.
"Although it's been a long and challenging year, I am very excited to close it out by competing in the PNC Championship with my son Charlie," Woods said in a statement on Wednesday.
"I'm playing as a Dad and couldn't be more excited and proud," added Woods.
In an exclusive interview with Golf Digest in late November, Woods spoke publicly about his golfing future for the first time since his February crash, saying his days of being a full-time golfer are over.
"I think something that is realistic is playing the Tour one day, never full time, ever again, but pick and choose, just like Mr. (Ben) Hogan did," Woods told interviewer Henni Koyack.
"Pick and choose a few events a year and you play around that. You practice around that, and you gear yourself up for that. And you play. I think that's how I'm going to have to play it from now on."
The PNC Championship features 20 major champions and their relatives competing for the total purse of $1,085,000, in a two-day, 36-hole tournament for the Willie Park Trophy.
The 2020 tournament was won by Justin Thomas and his father Mike.
"I am delighted to confirm that Tiger and Charlie Woods will be participating in the 2021 PNC Championship," said IMG's Alastair Johnston, the executive chairman of the tournament.
"We have been liaising with Tiger and his team for some time and are delighted that he has now decided to make his return to competitive golf at the PNC Championship."
The PNC Championship takes place at the Ritz-Carlton Golf Club Orlando, Grande Lakes, December 16-19.