The decision, which was reached during FIFA's two-day meeting in Zurich, came to end the debate on whether Africa will be stripped of a finals spot since the tournament will take place in the Dark Continent.
South Africa are handed automatic qualification as hosts while five teams will play in the qualifiers for a spot at the 2010 finals.
FIFA president Sepp Blatter decided to keep the qualifying format from the last World Cup, with one minimal change.
The fifth-place South American country will face the fourth-place nation from CONCACAF in a qualification playoff while the Oceania champion will play against Asia's fifth-place team for another spot.
The 2006 qualification campaign saw South America's fifth placed team, Uruguay, face Oceania champions Australia and Asia's fifth placed team, Bahrain, face fourth-placed Trinidad and Tobago from CONCACAF.
Europe's thirteen qualifying places also remain untouched.
The draw for all 2010 World Cup qualifiers will be held in Durban, South Africa on November 23rd, 2007.
FIFA also announced that the 2009 Confederations Cup will be played in South Africa from June 14th to 27th in the cities of Johannesburg, Bloemfontein, Port Elizabeth, Pretoria and Rustenburg.