The world football governing body, FIFA, ordered the replay after it banned the referee for the original game, Joseph Lamptey, for manipulating the match.
SAFA had been considering an appeal, but now says it agrees with FIFA
South Africa defeated Senegal 2-1 in the original tie.
The Bafana Bafana are now bottom of Group D with a single point from three matches and now trail the third-placed Senegal by four points.
FIFA will decide on the 14th of September on the exact date for the replay, which will take place in the international window in November, one month before the 2018 World Cup draw.