Kick-off 17h30 (18h30 SA time).
South Africa have played the Nigerians twice this year in international friendly matches, which ended 1-1 in Rustenburg and goalless in Lagos.
Banyana head coach Joseph Mkhonza said: "The stage is set for an epic battle between the two sides and the power of African women's football is clear, with all four of the top ranked teams on the continent in Nigeria, Equatorial Guinea, Cameroon and South Africa having made the semi-finals.
"Safa and our team sponsor Sasol need to be thanked for the continued support given to the national team which has turned our players into heroines in the eyes of sports fans across our country."
Veteran Banyana midfielder Portia Modise, who scored in the international friendly played in Rustenburg on June 3, said the Nigerians fielded their full strength team during the friendly matches and believes Banyana can break the mental block to record their first-ever win over the Super Falcons.
"The players are so keen to get the win over Nigeria and give South African football fans lots to be proud of as the win will allow our team to make the Final, which is one step further than what we achieved at the CAF 2010 African Women Championship," said Modise.
Banyana finished as the bronze medalists at the African showpiece event two years ago, going down to Equatorial Guinea in the semi-final, but beating Cameroon in the play-off match for third spot.
At this year's tournament, the South Africans finished second on the Group A log, recording wins against Senegal (1-0) and the Democratic Republic of Congo (4-1) and went down (1-0) to the hosts, Equatorial Guinea in the opening fixture.
With Equatorial Guinea having topped the Group A log at this year's tournament, the hosts will take on Cameroon in the second semi-final to be played in Malabo on Wednesday.