Arsenal will be looking to win in Dortmund for the second season running, while the opening night of the Champions League group stage also sees Liverpool’s return and last season’s runners-up Atletico Madrid in action.

AFP Sports takes a look at all the fixtures in Groups A, B, C and D on Tuesday:

Group A

JUVENTUS V MALMO

Under previous coach Antonio Conte, Juventus failed to reproduce their dominant domestic form in Europe so Massimiliano Allegri will know the importance of beginning with a win against Malmo in Turin. The Italian champions, who will be without injured midfielder Arturo Vidal, are fresh from beating Udinese 2-0 on Saturday.

Swedish champions Malmo were beaten European Cup finalists in 1979, losing to Nottingham Forest, but this is their first appearance in the Champions League group stage. Age Hareide’s side won three qualifying ties to get here.

OLYMPIAKOS V ATLETICO MADRID

Spanish champions and last season’s Champions League runners-up Atletico begin their campaign away to the Greek titleholders at the Georgios Karaiskakis Stadium. Atletico will be buoyed by avenging their 4-1 defeat to Real Madrid in May’s final in Lisbon by winning 2-1 at the Santiago Bernabeu on Saturday.

Arda Turan was the match-winner at the Bernabeu and is expected to start for the first time this season, while Italian international Alessio Cerci could make his debut. Atletico coach Diego Simeone serves a one-game European touchline ban for storming onto the pitch to confront Real defender Raphael Varane towards the end of the Champions League final. Olympiakos, who reached the last 16 last season under former Real Madrid and Spain star Michel, are unbeaten so far this season.

Group B

LIVERPOOL V LUDOGORETS RAZGRAD

Five-time European champions Liverpool mark their return to the Champions League for the first time since 2009 at home to the Bulgarian champions, who are making their group stage debut. Daniel Sturridge is injured for Brendan Rodgers’s side but Raheem Sterling will return to the line-up after being rested for Saturday’s 1-0 home loss to Aston Villa.

Ludogorets produced the sensation of the play-off round by beating Steaua Bucharest 6-5 on penalties, with Romanian defender Cosmin Moti saving two spot-kicks after goalkeeper Vladislav Stoyanov had been sent off. Stoyanov will therefore be suspended for the trip to Anfield.

REAL MADRID V FC BASEL

Carlo Ancelotti’s reigning European champions will be looking forward to the distraction of the Champions League after a poor start to the season domestically, with Saturday’s 2-1 loss to Atletico in the Madrid derby their second in three games in La Liga. Ancelotti has yet to find a balance to his side following the summer arrivals of Toni Kroos and James Rodriguez, while goalkeeper and captain Iker Casillas’s place in the team has been the subject of intense scrutiny.

Swiss champions Basel were knocked out in the group stage last season but did beat Chelsea home and away. Since then, Portuguese Paulo Sousa has replaced Murat Yakin as coach.