Holders Manchester United will face Celtic in the Champions League group stages following the draw in Monaco.
Alex Ferguson's side, who beat Premier League rivals Chelsea on penalties in the final in Moscow in May, were also joined by Spanish side Villarreal and Danish club Aalborg in Group E.
Runners-up Chelsea have been drawn in Group A along with Italian giants Roma, French side Bordeaux and Romanian club Cluj.
Luiz Felipe Scolari's team will look to go one better than last season when they were beaten on penalties by United.
Arsenal have been drawn in Group G with Porto, Fenerbahce and Dynamo Kiev.
Liverpool striker Fernando Torres faces an emotional return to former club Atletico Madrid after the Anfield outfit were drawn in Group D along with PSV Eindhoven and Marseille.
Champions League draw in full:
Group A: Chelsea, AS Roma, Bordeaux, Cfr Cluj
Group B: Inter Milan, Werder Bremen, Panathinaikos, Anorthosis Famagusta
Group C: Barcelona, Sporting Lisbon, FC Basel, Shaktar Donetsk
Group D: Liverpool, PSV Eindhoven, Marseille, Atletico Madrid
Group E: Manchester United, Villarreal, Celtic, Aalborg
Group F: Lyon, Bayern Munich, Steaua Bucuresti, Fiorentina
Group G: Arsenal, Porto, Fenerbache, Dynamo Kiev
Group H: Real Madrid, Juventus, Zenit St Petersberg, Bate Borisov
