In the two-hour event at Saddleback Church in California, each candidate will take to the stage for around an hour each to respond to Warren's questions on faith and moral issues such as poverty, HIV and Aids, climate change and human rights.
"We're honoured that the candidates chose The Saddleback Civil Forum on Leadership and Compassion for their first joint appearance, an unprecedented opportunity for America to hear both men back-to-back on the same platform," said Warren, founder of the 22,000-member Lake Forest megachurch.
"This is a critical time for our nation and the American people deserve to hear both candidates speak from the heart - without interruption - in a civil and thoughtful format absent [of] the partisan 'gotcha' questions that typically produce heat instead of light."
Both presidential candidates have recently increased their outreach to the evangelical community, and an appearance at the popular evangelical church could help the candidates' appeal to this key voting bloc.
Warren will be the only one to pose questions to the candidates, at the request of both senators, although the media is being let in on the event.
"While debates typically focus primarily on the candidates' positions and only secondarily on how they'd lead and make decisions, this Saddleback Civil Forum will reverse that ratio," Warren said.
"Since the oath of the President is a commitment to protect the Constitution, it's critical to know how each candidate interprets the nature of its principles.
