Amla took a year-long break from the shortest format of the game, while Steyn has recovered from various injuries.
South Africa selector Andrew Hudson said, “Hashim is a world-class player across all the formats. His experience and stability at the top of the order are qualities that we believe will strengthen the squad in a key area.”
He added, “It is great to have Dale back as it means we now have all our senior players available again.”
Amla and Steyn are already members of the Test and One-Day International (ODI) squads. The two-test series starts on Monday, the five one-dayers on Oct 30, and the Twenty20s are on Nov 13 and 15.
Squad: Faf du Plessis (c), Hashim Amla, Henry Davids, Quinton de Kock, AB de Villiers, JP Duminy, Imran Tahir, Ryan McLaren, David Miller, Morne Morkel, Wayne Parnell, Aaron Phangiso, Dale Steyn, Lonwabo Tsotsobe, David Wiese.