Currently, the Big Ten is in charge of scheduling all conference games. Michigan and Michigan State are both members of the Legends Division, and will continue to play each other in football every season unless one of the teams is moved to the Leaders Division (which would not happen unless a team is added or removed from the conference at large).
Even prior to MSU joining the Big Ten in 1950, the two teams played each other annually.
The last time Michigan and Michigan State did not play a football game was 1909.
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