The easiest way to find the game you want is to use the "Search FiOS TV" feature on your TV. Search for World Cup.
In my viewing area they are on several channels depending on the date and game.
1538 beIN EHD
598 beIN hd
I wasn't sure if you were referencing the U.S. games specifically, or all qualifiers in general.
The U.S.-Costa Rica game is on beIN Sports.
The U.S.-Mexico game is on ESPN.
beIn has a lot of qualifiers from Europe and South America. There may be others, but that is what I can think of right now. ESPN focuses on the U.S. and Mexico games.
If you want to watch a lot of qualifiers, I would look into beIn. It is available in the Ultimate Tier or as part of the Sports Pass package, which is an additional $10 a month. When qualifiers are done, which is in the next few months, you can always cancel the Sports Pass package.
beIn sport has only south america qualifiers and the us-away (!) games.
the most games are online on watch espn (you can sign in with your verizion id).
but if I read your nickname right your are looking for the england game and that is on gol tv, and thanks to verizon you can get gol tv only with the ultimate package (and only till october 17) or with the spanish language package.