The goals were scored by a brace from Thembinkosi Fanteni, while Lebohang Mokoena, Thando Mngomeni and Katlego Mphela each got one.
Bafana were by far the classier side and could have scored more goals had they taken their chances.
In the 15th minute they opened the scoring when Fanteni netted with a powerful long-range shot.
Mokoena curled in a brilliant cross that keeper Liteboho Mokhesi fumbled, only for Fanteni to rush in and score his second goal with a shot in the 26th minute.
Mokoena was next to score in the 32nd minute with shot from outside the box.
In the second half coach Carlos Alberto Parreira made a number of substitutions, giving virtually the entire bench the chance to play.
Thando Mngomeni scored the fourth Bafana goal with a shot in the 62nd minute, before Katlego Mphela made it 5-0 in the 83rd minute when he dribbled past two defenders to score.
Unfortunately for those on the scoresheet and making their debut, the match did not count for official caps.
SA: (4-4-2) Josephs (Sandilands 46) – Moon (Nthethe 29), Fransman (B Khumalo 46), A Hendricks, B Evans – L Mokoena (Isaacs 46), Mkhwanazi (Biyela 46), Shumana (Ngobeni 61), Chenene (Tn Mngomeni 46) – Walaza (Mphela 31), Fanteni (Sibisi 61)
Lesotho: (4-5-1) Liteboho Mokhesi (Phasumane Kholuoe 46) – Thabang Masualle, Lehlohonolo Seema, Mpitsa Marai, Khoto Sesinyi (Sello Muso 59) – Shalane Lehohla (Katleho Moleko 28), Ralekoti Mokhahlane (Tlali Maile 46), Bushy Moletsane (Tseliso Khali 60), Kutloisiso Nthonyane, Motlalepula Motolo – Lebajoa Mphongoa