Clarke has been in charge since May 2019 and has taken Scotland to two successive European Championship finals.
“The players have shown they know how to qualify for tournaments, so let’s qualify for another one,” said the 62-year-old.
“Way back at the start I said we didn’t have enough experience, we didn’t have enough caps in the squad. Now we’ve got enough caps and experience and hopefully that, allied to the talent in the group, that experience can be vital.”
On the eve of such a huge game Clarke said he was “feeling okay, pretty calm”, and added: “I always trust my players.
“The lads seem to be in pretty good spirits. Everyone is in a good place.”
Napoli midfielder Gilmour had hoped to recover from a groin problem after sitting out the loss in Greece, but has not made it.
“Everyone else is fit and ready to go,” confirmed Clarke.
Scotland opened this campaign with a goalless draw in Copenhagen, while they have won their past three home games against Denmark.
There has not always been a positive atmosphere at Hampden in the previous two home games. There were boos at half-time in October’s 3-1 win over Greece, while some jeered after a 2-1 victory over Belarus.
“We need the crowd with us,” added Clarke. “We probably need them more in the difficult moments. If we all work together, we can make it a great night for the country.”
