Goosen last featured for the Pretoria side in their 45-21 victory over Cardiff in the penultimate round of the regular season, limping off after just 11 minutes of play.
He subsequently missed the final-round clash against the Dragons and the win against Edinburgh in the quarter-finals, but returns to pull the strings in the number 10 jersey in an all-South African semi-final.
The 32-year-old is the only change to the team that dispatched the Scottish visitors last week, and partners scrum-half Embrose Papier in guiding the Bulls' play.
Harold Vorster and David Kriel form the midfield, while Sebastian de Klerk and World Cup winners Canon Moodie and Willie le Roux make up the outside backs.
Marcell Coetzee, Cameron Hanekom and skipper Ruan Nortje make up a formidable back row that will slot in behind locks Cobus Wiese and JF van Heerden.
In the front row, prop forwards Jan-Hendrik Wessels and Wilco Louw will pack down either side of hooker Johan Grobbelaar.
Vodacom Bulls: 15 Willie le Roux, 14 Canan Moodie, 13 David Kriel, 12 Harold Vorster, 11 Sebastian de Klerk, 10 Johan Goosen, 9 Embrose Papier, 1 Jan-Hendrik Wessels, 2 Johan Grobbelaar, 3 Wilco Louw, 4 Cobus Wiese, 5 JF van Heerden, 6 Marcell Coetzee, 7 Ruan Nortje (c), 8 Cameron Hanekom.
Replacements: 16 Akker van der Merwe, 17 Simphiwe Matanzima, 18 Mornay Smith, 19 Jannes Kirsten, 20 Marco van Staden, 21 Zak Burger, 22 Keagan Johannes, 23 Devon Williams.