Rabada has been declared fit to come back from his hamstring tear and face Australia in the second Test at St George's Park, in his first match since May.
The South African's return comes at a crucial point in the series, with the hosts fighting to stay alive after their 214-run pumping in Durban last week.
But it is also timely, given it was at St George's Park where Rabada was initially banned for two Tests for colliding with Smith while celebrating taking his taking his wicket in 2018.
Rabada ultimately had his ban downgraded to a fine, leaving Smith and Australia unhappy that the batter was not able to speak at the hearing.
The shoulder bump, and ensuing appeal, was one of the final flash points of the ill-spirited series before the ball-tampering scandal overshadowed it all.
Rabada has played against Australia 23 times across all formats since then without issue, while also being a teammate to some in franchise leagues.
Speaking to local media before Sunday's return, the 31-year-old made it clear he had no ill will towards Smith, even if he couldn't see the pair meeting for coffee.
"That is just the emotion of the game. It's about playing within the rules," Rabada told local reporters.
"As an athlete you want to go out and express yourself. There's no hate off the field or anything like that.
"It's a bunch of top-performing athletes who've got testosterone to burn. It's the heat of the moment.
"But, with the ICC, you have to take into consideration the rules that have been put in place regarding viewers who are watching the game, and keeping the game in a good light.
"That's understandable. You need characters in sport. But you also need to play within the rules."
Smith's wicket was the first of 11 Rabada took for the match at St George's Park in 2018, on his way to being man of the series.
The right-armer also has the second best record of any quick against Australia this century, with his 58 wickets at 21.39 behind only India's Jasprit Bumrah.
"He'll obviously feed off the performances that he's had against Australia," captain Temba Bavuma said.
"The bowlers, they feed massively over him. He leads the attack in everything that he does. And then I think he brings an extra level of confidence to the unit.
"You mentioned the aura. There's a lot of belief in KG, and a lot of the guys rub off there.
"He's raring to go."
South Africa will wait until Sunday to decide their final side, with rain predicted for the opening day and both teams preparing for a shortened Test.
The Proteas have already confirmed Tristan Stubbs and Kyle Verreynne will be dropped, with Marques Ackerman and Matthew Breetzke expected to come in.
22°C