The first match takes place at the Peter Mokaba Stadium in Polokwane on Friday 10 November, kick-off 7pm with the return fixture taking place four days later at the Stade Leopold Sedar Senghor in Dakar, kick-off 7.30pm.
Bafana Bafana must win both their games against the West African nation to overhaul them at the top of Group D in CAF qualifying and book their spot in Russia next summer.
Since joining in the summer, Kamohelo has made 11 appearances for The Bees and played 90 minutes in yesterday's 3-2 win over Preston North End. He also played the full 90 minutes of South Africa's 3-1 win over Burkina Faso earlier this month, his sixth cap for his nation.