India arrived in Johannesburg on Wednesday after a nine-hour journey from Mumbai for the match, organised as a tribute to Proteas all-rounder Jacques Kallis, at The Wanderers.
Dhoni's side will then immediately return home for the start of the seven-week Indian Premier League, which starts next Wednesday.
The game comes on the back of a long tour of Australia as well as this month's Asia Cup, but despite their busy schedule Dhoni denied his side would be jaded.
"(We are) all happy," he said after touching down.
"In South Africa the sports are managed really well. When a team comes everything is in place and in order. I don't think fatigue will be a real factor."
India coach Duncan Fletcher also backed the staging of the match, claiming it was an opportunity to expose his younger players to foreign conditions.
"We're trying to develop a young one-day squad and Twenty20 squad," he said.
"These blokes have played well on the subcontinent and any game they play out of it must be good from an experience point of view."
-DINAVIDIYAL!