Free Press, an imprint of Simon & Schuster, said Tuesday that the comedian's book "Last Words" will be published in November.
Carlin died in June 2008 at age 71 and worked on the book for the last decade of his life. He collaborated on it with author and humorist Tony Hendra.
Hendra is best known for the memoir "Father Joe."
Carlin's other books included "Brain Droppings" and "Napalm and Silly Putty."