The Spanish and European giants arrived at the Oliver Tambo International Airport with a full squad that included the likes of Lionel Messi, Luis Suarez and retiring Andres Iniesta.
Many of the Barcelona stars have already played in South Africa before, and that was during the 2010 Fifa World Cup which Spain won. He was the country's first head of state elected in a fully representative democratic election and played a prominent role in the fight against apartheid.
Barcelona will lock horns with Absa Premiership champions Mamelodi Sundowns at the FNB Stadium with the Ghanaian shot-stopper likely to feature.
Barcelona take on Mamelodi Sundowns in a friendly clash as part of the events to commemorate what would have been Nelson Mandela's 100th birthday.
Mandela was born on July 18, 1918 and died in December 2013.
The game will be Barca's second visit to South Africa.
Ernesto Valverde had been criticised for resting players from the thrilling 5-4 defeat to Levante that saw Barca's unbeaten LaLiga season come undone in the penultimate match of the season.