Wales will face World Cup giant-killers Japan at the Principality Stadium on 19 November.
Japan, who stunned two-time champions South Africa at the 2015 World Cup, will visit Cardiff during the Autumn Test series.
The Cherry Blossoms recorded a historic first win over Wales in Tokyo in June 2013.
Wales will also face Australia on 5 November, Argentina on 12 November and the Springboks on 26 November.
All four Tests will be live on BBC One Wales, S4C, Radio Wales, Radio Cymru and online.
"We are delighted that Wales rugby fans will be able to follow the excitement of the Autumn Internationals every step of the way on BBC Cymru Wales," said BBC Wales head of sport, Geoff Williams.
Wales won 72-18 the last time Japan visited Cardiff during the 2007 Rugby World Cup.
Wales' 2016 autumn fixtures
Wales v Australia, Saturday 5 November, Principality Stadium, 14.30 GMT
Wales v Argentina, Saturday 12 November, Principality Stadium, 17.30 GMT
Wales v Japan, Saturday 19 November, Principality Stadium, 14.30 GMT
Wales v South Africa, Saturday 26 November, Principality Stadium, 17.30 GMT