Waugh, who is expecting South Africa to play the same style of game which netted the hosts a shock victory over the All Blacks last weekend, said he is expecting a brutal encounter at Ellis Park.
"They started the game by driving a lot and then finished the game by playing fairly expansively," Waugh told AFP. "We'll be expecting a similar sort of game plan from them this week."
The Wallabies are also wary of Victor Matfield, who Waugh described as the best lineout forward in the game over the past two years.
"He's been stealing probably more ball than anyone else in the tournament so we've got to be pretty sharp at lineout time," he said.