Rabada has not taken to the field for any competitive cricket since playing a starring role in the Proteas' World Test Championship victory against the Aussies at Lord's in early June.
The paceman was rested for the Test series in Zimbabwe and the subsequent T20I tri-series in the the same country that also involved New Zealand.
Rabada declared that he is feeling refreshed and "fully fit" to take on Australia ahead of the opening T20I clash that will be played at the Marrara Stadium in Darwin.
"The rivalry between Australia and South Africa has always been something to behold," Rabada said. "It's always some hard cricket being played...whenever we play Australia.
"It always feels like they get the best out of us, because they're in our faces. And I guess we like that."
The Proteas are still without David Miller, Marco Jansen and Keshav Maharaj for the white-ball matches in Australia while Heinrich Klaasen has retired from international cricket.
The 30-year-old Rabada is embracing his leadership role within the Proteas set-up as they build up towards the T20 World Cup next year.
"We've got some exciting talent coming through, and for me that's extremely exciting to see," Rabada said. "So they'll be wanting to thrive on this stage.
"It's just about trying to see where we're at as a team, (we're) moving into almost another generation. Players like myself and Aiden (Markram), we've been around for quite some time, so we are adopting the leadership positions, the senior positions, and it's been happening for quite some time now."
The second match will also be played in Darwin on Tuesday while the series will conclude in Cairns on 16 August before the teams start a a three-match ODI series on 19 August.
Proteas head coach Shukri Conrad is relishing the prospect of a glut of T20I matches as he looks to get his squad in shape ahead of next year's World Cup, starting with series in Australia from Sunday.
Proteas T20I captain Aiden Markram has urged the younger members of his squad to play without fear as the national side embark on a tour to Australia for six white-ball matches.
Proteas head coach Shukri Conrad is delighted with the progress with T20 side is making despite losing all of their matches against New Zealand in the Tri-Series.
The Proteas went down to a three-run defeat against New Zealand in the T20I tri-series final in Harare in a thrilling encounter that went down to the last ball.
