The Australians have been drawn in a difficult Group D with Germany, Ghana and Serbia, but if they progress they could face England from Group C in the knockout stage.
"It can be a bonus for the players for the last two percent of motivation they can hopefully play England in the next round," Verbeek told Australian television.
"It's difficult enough but I think it's a great challenge and it's exactly what my players like."
Australia and England have a long, colourful rivalry in sport. They have played each other in two Rugby World Cup finals and a Cricket World Cup final but have never met at football's showpiece tournament.
It is also close to Johannesburg's second airport, which players and team officials will use during the tournament to avoid the crowds at the city's main terminal.
'AHEAD OF THE GAME'
"Being last to qualify in 2006 meant we had a very short time to get organised but this time we have been ahead of the game and worked on our base camp since last year," Australia's head of national teams and development John Boultbee said in a statement.
"Detailed research shows we need to be well acclimatised to play at altitude both in physiological terms and the way the ball travels in the air.
"Quality venues in the Johannesburg area are at a premium for these reasons and we are very happy to have secured one of the very best, which was in fact our first choice venue."
The Socceroos are also planning to arrive in South Africa earlier than most teams to finish off their preparations, chartering a Qantas jumbo jet that will be painted in the team's green and gold colours.
Australia's second game is against Ghana at Rustenburg on June 19 and their final group match is with Serbia at Nelspruit on June 23.
