Both sides were victorious in their respective league matches yesterday.
Kildare beat Laois in O'Moore Park by 2-18 to 1-8 to clinch a Division 2 semi final place against Meath in two weeks time.
Luke Flynn in the first half and Kevin Flynn in the 2nd half got the Kildare goals.
Cork's 22 points to 1-18 one-point win over Clare left Kildare top of the Division on score difference from Clare.
Clare will play Mayo in the other semi final, after the westerners 3-17 to 2-12 win over Meath.
Here's manager Jack O'Connor.
Meanwhile, here's what Naas' Eoin Doyle had to say after the game.
In Ladies football, Kildare came from behind against Wicklow in Aughrim to win by a point 1-9 to 2-5
Roisin Byrne scored the Kildare goal.