The 28-year-old featured as one of the over-aged players for Tottenham Hotspur Under-21s against their Manchester United counterparts, for who the likes of Rafael and Victor Valdes also played.
The game finished 1-1, but big-name signing Falcao, who reportedly earns around R5-million per week, was substituted after just 72 minutes after failing to make an impact.
Khumalo is playing for his future at White Hart Lane, with his contract due to expire in June.
He has not played for Spurs in a competitive game since his arrival from SuperSport United in December 2010. The 28-year-old has had loan spells at Doncaster Rovers, Preston North End, Reading FC and PAOK Thessaloniki.