Only essential personnel will be permitted to attend the events, and protective clothing will be a requirement for every person in attendance.
The premier Cup Series will continue after the initial race, with three more races planned within 10-days of the Darlington event.
Charlotte Motor Speedway will host the Coca-Cola 600 on May 24 to commemorate 60 consecutive years of the race.
NASCAR was initially suspended on March 12 with only four of its 36 planned races completed as a result of the spread of COVID-19.
Marcus Smith, president and CEO of Speedway Motorsports, said: “This has been a proactive effort to put our motorsports industry back to work and boost the morale of sports fans around the world, while at the same time keeping the health and safety of all who will be on site the top priority.
“Sports fans around the world need this, a return to some sense of normalcy with live sports on TV, and NASCAR is uniquely positioned to deliver it from a competition standpoint.”