It had been reported that Richards – who claimed Jagger had a 'tiny todger' in new memoir Life – had fallen out with his pal, sparking fears the band would split for good.
But Richards insists they are still planning to work together again as early as 2011.
He said: 'Last time I spoke to Mick and Charlie [Watts], we started kicking around ideas for next year.
'That's a good thing because it means Mick wants to do it. I wait for the call and I think I'm getting one.'
He added: 'I told Mick I'd told it as straight as I could. He read it and has no real beef. I said, 'You can always write your own book’. If you're going to tell it, there's no point in colouring it or shifting it.
“People want to know what it's like to be Keith Richards, or going through the experience of being in this thing called the Rolling Stones.
He also told how writing about the death of his baby son Tara, who died in his sleep in 1976, was the hardest part of penning his autobiography.
The 66-year-old guitarist told a US newspaper: 'Having to relive the death of my son, that was the most difficult [part]. You come to terms with it. It's in the past. But now… I thought, 'Doing this autobiography is more serious than I thought. Do I want to dig any deeper?'
'I found a certain solace and soothing in the telling.'