Robinson, a World Cup winner in 2003 and a key figure during England's stirring defence of the title, will be making his final first class appearance.
The 33-year-old retired from all rugby after the World Cup but his farewell at Twickenham will be well-received by adoring England fans.
Another star of England's heroic failure in France last month, Bristol hooker Mark Regan, will lead the 22-man squad against the Springboks.
Ben Cohen is given a welcome opportunity to play following the collapse of his move to Leicester for salary cap reasons.
Having left Northampton, England winger Cohen is without a club - the same fate that has befallen Wales lock Brent Cockbain who is on the Ospreys' transfer list.
In total six All Blacks are included in the squad to face the world champions, including prolific winger Joe Rokocoko.
Ireland coach Eddie O'Sullivan will coach the team, beginning his push to lead the 2009 Lions tour to South Africa.
O'Sullivan said: "I was honoured to be invited to prepare the team for such an historic and high-profile fixture.
"The assembled squad has an exciting mix of home grown and overseas talent.
"We hope to give the world champions a real game in the best traditions of Barbarian rugby on Saturday."