But both countries avoided red-hot tournament favourites New Zealand at Monday's draw, carried out in central London.
England, 2003 World Cup winners and 2007 runners-up, must overcome Scotland, Argentina, plus one other European country to emerge from qualifying and a play-off winner.
England, though, look set to face the All Blacks in the quarter-finals unless they win their group.
Wales have been drawn with reigning world champions South Africa, Fiji - the team that knocked them out of last year's World Cup - Oceania 1 (probably Samoa) and Africa 1.
Ireland are pooled with Australia, Ireland, Italy, Europe 2 and Americas 2.
The pool draw for the 2011 Rugby World Cup in New Zealand is as follows:
Pool A
New Zealand
France
Tonga
Americas 1
Asia 1
Pool B
Argentina
England
Scotland
Europe 1
Play-off winner
Pool C
Australia
Ireland
Italy
Europe 2
Americas 2
Pool D
South Africa
Wales
Fiji
Oceania 1
Africa 1
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