"He spent a full day in the simulator at our headquarters in the Netherlands. Then we witnessed him during a test session at Valencia and eventually, we reached an agreement to compete together in this year's ADAC Formula 4 series," team chief Fritz van Amersfoort told the team's website.
The 15-year-old was second in the German kart championship last season.
He will make his first appearance in Formula 4, a series for young talents, at Oschersleben in northern Germany on April 25 and 26, with the last race set for Hockenheim in October.
The Schumacher family's spokeswoman Sabine Kehm confirmed that Mick would be quitting karting to focus on the single-seat category.
Formula 4 was created last year as a championship for young drivers hoping to eventually take the step up to Formula One.
Michael Schumacher is still recovering from the serious skiing accident in the French Alps in December 2013 that left him with life-threatening head injuries.