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Denton, starting for the injured Ross Rennie, is one of two changes to the side defeated 55-22 by New Zealand, with Euan Murray returning in place of Geoff Cross at tight-head.
The 32-year-old missed the defeat to the All Blacks as he refuses to play on Sundays for religious reasons while Denton keeps the shirt after replacing Rennie against New Zealand.
And after scoring 22 points against the world champions Robinson is keen to keep the entertainment coming, with 22-year-old Denton, who was awarded man-of-the-match in Scotland’s RBS 6 Nations clash against England earlier this year, tipped to provide the spark.
“I was pleased with Euan's contribution both at scrummage and in open play during the summer tour, while Denton's aggressive carrying is something that really gets the crowd going,” he said.
“We know we're in for a bruising battle against South Africa and we will be primed for that.
“Dougie Hall has had a good season for Glasgow and I know that John Barclay has been one of our most consistent and reliable back-row forwards since he made his debut five years ago.
“Peter Murchie is another who has had a fine start to the season with Glasgow and his desire to dominate in aerial combat has been a factor in selection.”
Scotland : Stuart Hogg, Sean Lamont, Nick De Luca, Matt Scott, Tim Visser, Greig Laidlaw, Mike Blair, Ryan Grant, Ross Ford, Euan Murray, Richie Gray, Jim Hamilton, Alasdair Strokosch, Kelly Brown, David Denton
Replacements : Dougie Hall, Kyle Traynor, Geoff Cross, Alastair Kellock, John Barclay, Ruaridh Jackson, Peter Murchie