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Defending World Champions New Zealand are to take on two-time winners South Africa in their Rugby World Cup semi-final at Twickenham.

Sara Orchard spoke to former South Africa captain, Francois Pienaar, about today's semi-final and his relationship with Nelson Mandela two years after he passed away.

"Leaders like that don't come along in people's lifetimes," he said.

Mr Pienaar told the programme it was not insulting to call South Africa the underdogs:

"We love being underdogs...we want to prove the world wrong."

This has been by far the best World Cup, Mr Pienaar said.