The 27-year-old missed the recent second Test rout of New Zealand with a hamstring problem, but returns to replace Ryan McLaren for the Johannesburg meeting on February 1.
Rory Kleinveldt and Jacques Rudolph will provide the cover in a 13-man squad, with the number-one ranked Proteas set to embark on a three-Test series with Pakistan.
"We have given a full vote of confidence to the squad of 13 that did duty in the recent Sunfoil Series against New Zealand," said selector Andrew Hudson.
South Africa squad: Graeme Smith (Captain), Hashim Amla, AB de Villiers, Faf du Plessis, Dean Elgar, Jacques Kallis, Rory Kleinveldt, Morne Morkel, Alviro Petersen, Robbie Peterson, Vernon Philander, Jacques Rudolph, Dale Steyn.
