Gary Dobson, 36, and David Norris, 34, both of south London, are on remand at Belmarsh prison and appeared at the Old Bailey via a videolink.
They were remanded in custody and the trial will start on 14 November.
Mr Lawrence, an 18-year-old black A-level student, was stabbed to death at a bus stop in Eltham, south-east London, on 22 April 1993.
Mr Lawrence's mother Doreen, 58, was in court to see the proceedings.
The judge, Mr Justice Treacy, also appeared via a videolink, from Birmingham Crown Court.
Another pre-trial hearing will take place on 29 September.
Mr Dobson stood trial over the murder following a private prosecution in 1996 and was cleared. In May, the Court of Appeal overturned the acquittal because it said substantial new evidence had emerged.
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