Springboks happy as underdogs - Francois Pienaar

South Africa will welcome being underdogs against New Zealand at the Rugby World Cup, according to former captain Francois Pienaar.

The Springboks come up against the red-hot All Blacks in the semi-finals of the tournament at Twickenham on Saturday.

Pienaar, who led South Africa to their 1995 World Cup success, said his nation would enjoy facing Steve Hansen's side.

The last meeting between the teams went New Zealand's way in a 27-20 victory in Johannesburg in July.

"This is going to bone-crunching this weekend," Pienaar said.

"There's great respect for the All Blacks. Last weekend they flipped the switch, we could see what they can do.

"But we kind of like playing them and we like being the underdogs.

"We had an opportunity in the [Rugby] Championship this year, with more or less the same team to beat them, we didn't grab that opportunity.

"When that opportunity comes on the weekend we should grab it. It will come down to the wire, because history always suggests it does."

New Zealand, Australia and South Africa have all won the World Cup twice and those three teams are among the semi-finalists.

Pienaar said that should be some inspiration for the Springboks.

"There is huge rivalry and competition. To be the first to get to three [World Cup wins] would be one up, but it's all about execution," he said.

"Teams have been picked and how they execute under pressure is going to be up to them.

"This is the most exciting part, because you go through the pool stages, you get to knockout rugby.

"You pack your bag for only one week, but your dream is to stay until the end."