Harris, 36, will work as a bowling coach alongside newly appointed team assistant coach David Saker.
Harris, who took 113 wickets in 27 Tests as a swing bowler, retired last year with persistent knee problems, and was Australia's Under-19 coach last season.
Australia’s Marsh leaves Sri Lanka with broken finger
"It's great experience to learn from David Saker and Darren Lehmann, I'm really just going to sit back and watch and learn," said Harris.
"Eventually I'd like to work my way to the top and become a bowling coach of the Australian team one day. Just like playing, you have to earn your stripes and learn the ropes."
Head coach Lehmann said he was excited to have Harris on board in a coaching role.
Australia's Starc sets ODI 100 wicket record
"It's a win-win having two experienced coaches in Ryan and David Saker being able to nurture our young group and we expect a positive response both on and off the field," said Lehmann.
Australia's tour of South Africa comprises one ODI against Ireland and five ODIs against South Africa, beginning on September 27.
COMMENTS
Comments are moderated and generally will be posted if they are on-topic and not abusive.
For more information, please see our Comments FAQ