The India tour, starting on September 15, will consist of three T20Is and three Test matches.
Sachin Tendulkar called Hashim Amla the source of inspiration for many youngsters.
Hashim Amla played 124 Tests and 181 One Day International (ODI) matches for South Africa.
South Africa thumped Sri Lanka by nine wickets in their World Cup match at Chester-le-Street.
Rohit Sharma celebrated after India got their World Cup 2019 campaign underway on a positive note.
India plan to push South Africa towards elimination in Southampton by deploying a feared bowling line-up led by Jasprit Bumrah, the top-ranked ODI bowler in the world.
South Africa pacer Lungi Ngidi will be sidelined for up to 10 days after suffering a hamstring strain in Sunday's World Cup defeat to Bangladesh.
South Africa had scored 95/0 in 12.4 overs, with Hashim Amla making 51 and Quinton de Kock 37.
Hashim Amla, who will be playing in his third World Cup, says he is hungrier than ever before.
South Africa have reached the ICC Cricket World Cup semi-finals four times.
Hashim Amla was not selected for the first three matches of the series, all won by South Africa.
This is South Africa's last 50-over assignment before the ICC World Cup 2019, starting on May 30 in the United Kingdom.
Hashim Amla's century went in vain as South Africa lost the first ODI by five wickets.
South Africa were 135 for five at stumps, with an overall lead of 212 runs.
From being in control on 226 for three at tea, South Africa were bowled out for 262 by Pakistan on Day 1 of the third and final Test.
Rassie van der Dussen was the leading run-scorer in the recent Mzansi Super League T20 tournament.
The result ensured a seventh successive home series win for South Africa, who won the first Test in Centurion by six wickets.