Lock Matfield, 37, ended a two-year retirement this season and has impressed for the Bulls in the Super Rugby competition.
After injuries and a serious illness sidelined Stormers flanker Burger, 31, for almost two years, he has been back to his best lately.
"It is great to welcome them back into the Springboks fold," national coach Heyneke Meyer said in a statement.
"I know both of them can still add a lot of value to the team with the 2015 Rugby World Cup looming."
Young Stormers lock Eben Etzebeth, who has missed the 2014 Super Rugby season through injury, was chosen.
A surprise inclusion is Cheetahs flanker Heinrich Brussow as he has been out in the cold since Meyer took over two seasons ago.
The coach believed Brussow conceded too many penalties and preferred England-based Francois Louw.
There are eight uncapped players among the group that will hold a three-day camp from Sunday in Durban.
Backs who have not worn the green and gold include wingers Damian de Allende and Cornal Hendricks, centre S'bura Sithole and fly-half Marnitz Boshoff.
Prop Marcel van der Merwe, lock Lood de Jager and flankers Teboho 'Oupa' Mohoje and Jacques du Plessis are the uncapped forwards.
South Africa play an exhibition match against a World XV in Cape Town on June 7, Wales on June 14 in Durban and on June 21 in Nelspruit, and Scotland on June 28 in Port Elizabeth.
Squad:
Forwards: Tendai Mtawarira, Trevor Nyakane, Marcel van der Merwe, Jannie du Plessis, Frans Malherbe, Coenie Oosthuizen, Bismarck du Plessis, Adriaan Strauss, Eben Etzebeth, Lood de Jager, Victor Matfield, Flip van der Merwe, Heinrich Brussow, Marcell Coetzee, Siya Kolisi, Willem Alberts, Jacques du Plessis, Teboho Mohoje, Duane Vermeulen, Schalk Burger
Backs: Fourie du Preez, Francois Hougaard, Johan Goosen, Marnitz Boshoff, Jean de Villiers, Damian de Allende, Jan Serfontein, Juan de Jongh, JJ Engelbrecht, S'bura Sithole, Francois Steyn, Lwazi Mvovo, Bjorn Basson, JP Pietersen, Cornal Hendricks, Willie le Roux
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