Bafana Bafana will take on the Afcon champions when a Fifa international date allows for a game to be played in November this year
The 18th edition of the annual match to honour the former president will take place on November 14.
Last year Bafana played Ivory Coast; this year Safa have chosen Chipolopolo following their success at the Nations Cup finals.
The match against Zambia is part of the line of friendly matches that Safa has lined up as preparation for the Africa Cup of Nations to be staged in the country early next year.
Bafana will be playing a series of friendly matches in the build up to the Afcon, which are aimed at not only preparing the team but also affording the new coach a chance to work with his players.
Caretaker coach Steve Komphela will be in charge of the next two games, the World Cup qualifier against Botswana this weekend and the friendly against Gabon next Friday at Mbombela Stadium in Nelspruit.
After these two matches Safa will make a decision as to who becomes the coach of the senior national team with that man to start off his duties in September when Bafana regroup again.
While other countries will be involved in the last line of qualifiers for next year's Afcon in September and October Bafana will use those two dates to play friendly matches, one of which will be against Poland.
After the Nelson Mandela match against Zambia Bafana will also play another two friendly matches prior to the start of the tournament in January.