Madigan and Kearney were members of the Irish Under-20 squad last year, along with inside centre Eamonn Sheridan.
There is an all Garryowen half-back combination with club-mates Andrew Burke and Conor Murray lining out for their first competitive start together at this level.
Number 8 Peter O'Mahony will lead the side as part of a physical back row unit that includes Dominic Ryan and Rhys Ruddock, younger brother of second row Ciaran Ruddock who was part of the Under-19 side last year.
Ireland coach Allen Clarke said: "The attitude of the whole group has been excellent. There were some tight selections, but the players chosen have been performing consistently well for their respective clubs.
"I am very pleased with the standards set on and off the field - the reality is to produce an accurate performance on Friday night. France will be a huge test but one the players are looking forward to.
"Playing in front of a home crowd at Dubarry Park is a big plus for us.
"I know from being a spectator last season the atmosphere created by the home support is an inspiration to the team. We aim to give our supporters a performance to be proud off."
Tickets for the game are still available from the Buccaneers clubhouse at Dubarry Park and also from various local outlets.
IRELAND UNDER-20 TEAMS & REPLACEMENTS (v France U-20s, Under-20 Six Nations, Dubarry Park, Friday, February 6, kick-off 7.30pm):
15 - Ian Madigan (Blackrock College/Leinster)
14 - David Kearney (Lansdowne/Leinster)
13 - Ian McKinley (UCD/Leinster)
12 - Eamonn Sheridan (Lansdowne/Leinster)
11 - Michael Keating (Clontarf/Leinster)
10 - Andrew Burke (Garryowen/Munster)
9 - Conor Murray (Garryowen/Munster)
2 - Thomas Sexton (Old Belvedere/Leinster)
3 - Jack O'Connell (Lansdowne/Leinster)
4 - Ciaran Ruddock (Neath/Exiles)
5 - Mark Flanagan (UCD/Leinster)
6 - Rhys Ruddock (Milfield School/Exiles)
7 - Dominic Ryan (Lansdowne/Leinster)
8 - Peter O'Mahony (Cork Constitution/Munster) (capt)
16 - David McGregor (Ballynahinch/Ulster)
17 - Paddy McAllister (Ballynahinch/Ulster)
18 - James Sandford (Queens University/Ulster)
19 - Michael Noone (Seapoint & Lansdowne/Leinster)
20 - John Cooney (UCD/Leinster)
21 - Gary Foley (Blackrock College/Leinster)
22 - Mark Doyle (UL Bohemians/Munster)