Edinburgh won the FA Cup and League Cup during a decade as a Spurs player before retiring in 2006.
The 46-year-old has made a promising start to his coaching career and took over at Priestfield Stadium in 2015.
Gillingham are currently 13th in League One and Edinburgh insists he will be a proud man when he steps onto the pitch in N17, having called it home for so long.
“Spurs has been a fantastic part of my life and my family’s life," he told Tottenham's official website.
"Every day it was a privilege to train and play at the club so, after being there for over 10 years, it’s going to be a very proud moment to walk out of that tunnel.”
The Gills will go into the game as huge underdogs but, having already knocked out Premier League opposition in the last round, Edinburgh is adamant his side must believe they can get a result against Mauricio Pochettino's men.
"That's our challenge, to see if we can go and replicate the performance that we produced that night at Watford," he told the BBC.
"If we can get that balance right and we can stay in the game, the belief will be there because we know that we've achieved that before."
