The Italian was in charge of the Three Lions for four years before leaving his post in 2012 due to a disagreement with the Football Association.
However, Capello, who is now in charge of Russia, wants to face his former team in Brazil should both countries qualify.
"We are all friends now. It was very good to come back and see the people I used to work with. I have no problems with anyone," said Capello.
"I still like coming back to London. I have a house here and I've been back a few times.
"You know I can't talk about what happened with England but I am enjoying my life with Russia and my hope is that we play England in Brazil at the World Cup. That would be very good, I think."
Russia are currently at the top of their World Cup qualifying group.