But Steyn will have to prove his fitness ahead of the third Test starting at the Wanderers Stadium next Thursday after failing to see out his two most recent Test appearances.
He picked up a groin injury in the first Test against India in November and in the first Test against England in Durban last month he suffered a shoulder strain.
South Africa, who trail the series 1-0, named an unchanged squad for the last two Tests, which means no place for specialist opening batsman Stephen Cook.
JP Duminy, who was dropped for the drawn second Test in Cape Town, remains in the squad. Duminy made a century in a domestic first-class match on Thursday.
South Africa also named a squad for a five-match one-day series which starts next month.
Test squad: AB de Villiers (captain), Dean Elgar, Stiaan van Zyl, Hashim Amla, Faf du Plessis, Temba Bavuma, JP Duminy, Quinton de Kock (wkt), Rilee Rossouw, Dale Steyn, Morne Morkel, Kagiso Rabada, Kyle Abbott, Dane Piedt, Chris Morris, Hardus Viljoen.
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