The two sides will meet at Peter Mokaba Stadium at 19h30, both fresh from respective weekend defeats to Highlands Park and Polokwane City.
Bakgaga and Abafana Bes'thende have already met twice this season, with the Limpopo side winning 2-0 in the Telkom Knockout, before coming back from a goal down to beat the KwaZulu-Natal club 2-1 in the first round of the league.
"The preparations are going well," Semenya tells KickOff.com.
"I think it's not gonna be easy because they lost against Polokwane City so they'll want to come and fight as well. So we also want to move away from the relegation zone, so it's going to be a tough game.
"I think we are not defending properly, I think that's the main problem because scoring we can score but we can't maintain the lead, so most of the time I think it's all about defending. We are not defending good [sic].
"It's very important this game because we also want to close that gap so that we are not... already we are deeply in relegation, actually one point away from the playoffs [position]. So it's going to be difficult but we need all three points, that's all we need right now.
"At this stage of the season that's where every point matters. The only thing you can do is to work on your defending and that's all you can do."
Baroka are 13th on the log with 21 points from 23 matches, while Arrows are 11th with 25 points.