South Africa won that match 4-0 earlier this year in June.
For the Mauritania clash Mashaba has retained the services of Itumeleng Khune in goals.
Hlatshwayo will lead the side as captain.
In the clash against Gambia, Rivaldo Coetzee and Eric Mathoho occupied the heart of defence but they are both out due to illness and injury respectively.
The midfield has also seen some changes with Mpho Makola and Maphosa Modiba coming starting ahead of Mandla Masango and Keagan Dolly.
Dolly has not been considered for the match as he is still nursing a hamstring injury, while Masango will start on the bench.
Central midfield personnel remain the same with Hlompho Kekana and Andile Jali continuing from the Gambia clash.
With no Thulani Serero from the last match, Sibusiso Vilakazi has been selected to partner Thamsanqa Gabuza upfront.
In the stands, Dolly will be sitting alongside Riyaad Pieterse, Denwin Farmer, Diamon Thopola, Deolin Mekoa, Thapelo Morena and Thabiso Kutumela
South Africa and Mauritania kicks off at 19h05 at Mbombela Stadium in Nelspruit.
South Africa starting 11 vs Mauritania:
Itumeleng Khune (GK), Abbubaker Mobara, Tebogo Langerman, Ramahlwe Mphahlele, Thulani Hlatshwayo (C), Andile Jali, Hlompho Kekana, Mpho Makola, Maphosa Modiba, Sibusiso Vilakazi, Thamsanqa Gabuza.
Jackson Mabokgwane (GK), Clayton Daniels, Dean Furman, Mandla Masango, Tokelo Rantie, Gift Motupa, Sifiso Hlanti
Riyaad Pieterse (GK), , Denwin Farmer, Diamon Thopola, Deolin Mekoa, Thapelo Morena and Thabiso Kutumela.