The couple will form part of a star-studded line-up at the Mandela:100 event on December 2 to honor the legacy of the anti-apartheid hero in his Centenary year.
Other performers include Ed Sheeran, Chris Martin, Pharrell Williams, D'banj, Femi Kuti, Sho Madjozi, Tiwa Savage and Wizkid at the event put together by the non-profit Global Citizen network, who say the concert is the "biggest campaign on the Global Goals to end extreme poverty ever."
Global Citizen has held annual concerts aimed at getting young people involved in causes since 2012.
Media mogul Oprah Winfrey will also deliver a keynote speech on former South African president Mandela's teachings at the event.
The Mandela 100 concert is the first global citizen festival to be held in Africa.
South Africans have begun sharing their excitement in anticipation of the concert, particularly as Beyonce last performed in South Africa in 2004.
They will be able to earn free tickets to the concert by taking action in Johannesburg's local communities and Global Citizen's platforms from August 21.
While a limited number of tickets will also be available for purchase from July 11.
The concert will be the summit of the year-long 'Be The Generation' campaign, a celebration of the former President's centenary inspired by his "life-long dedication to rallying people together to use their collective voices to speak for the most marginalized people," according to Global Citizen.
While Nelson Mandela's legacy remains a strong inspiration, the non-profit's presence in South Africa was also motivated by a need to "galvanize young, passionate people across Africa to pressure their leaders to make important strides on the Global Goals," the organization said on its website.