Lancaster led the Red Rose as interim coach during the RBS 6 Nations, winning four of their five games, but is now planning for a World Cup in home soil in 2015 after being handed the job on a permanent deal.
His first tour squad is 42-strong with Wasps pair Christian Wade and Joe Launchbury, Bath flanker Carl Fearns, Exeter's Tom Johnson and Leicester duo Graham Kitchener and converted hooker Tom Youngs in line for their first caps.
In the main Lancaster has kept faith with the majority of his Six Nations squad, including Robshaw as skipper, but admits they face a severe test against the Springboks.
"There is a real excitement about this squad. We have a massive challenge ahead of us but it is one that everybody involved - players, coaches and management - is looking forward to," he said.
"Chris Robshaw was named player of the season on Tuesday night so congratulations to him and it is only right that he continues to captain the team, supported by a strong leadership group.
"While certain players are not available because of inevitable injuries at this time of the season, we have been able to select the bulk of the squad from the RBS 6 Nations.
"We are also taking with us four of the Under-20s team which reached last June's Junior World Championship final [Owen Farrell, Jonathan Joseph, Launchbury and Wade] and we see the return of two experienced internationals in Danny Care and James Haskell."
Forwards: M Botha (Saracens), D Cole (Leicester Tigers), A Corbisiero (London Irish), P Doran-Jones (Northampton Saints), P Dowson (Northampton Saints), C Fearns (Bath Rugby), J Gray (Harlequins), D Hartley (Northampton Saints), J Haskell (Otago Highlanders), T Johnson (Exeter Chiefs), G Kitchener (Leicester Tigers), J Launchbury (London Wasps), J Marler (Harlequins), L Mears (Bath Rugby), B Morgan (Scarlets), M Mullan (Worcester Warriors), T Palmer (Stade Francais), G Parling (Leicester Tigers), C Robshaw (capt, Harlequins), G Robson (Harlequins), M Stevens (Saracens), T Waldrom (Leicester Tigers), T Youngs (Leicester Tigers)
Backs: A Allen (Leicester Tigers), C Ashton (Northampton Saints), B Barritt (Saracens), M Brown (Harlequins), D Care (Harlequins), L Dickson (Northampton Saints), O Farrell (Saracens), T Flood (Leicester Tigers), B Foden (Northampton Saints), A Goode (Saracens), C Hodgson (Saracens), J Joseph (London Irish), G Lowe (Harlequins), U Monye (Harlequins), D Strettle (Saracens), M Tuilagi (Leicester Tigers), J Turner-Hall (Harlequins), C Wade (London Wasps), Ben Youngs (Leicester Tigers)