Taylor and Jarvis had opted to play county cricket in England under Kolpak contracts, which meant they could no longer play for Zimbabwe, but have since been convinced to return to the team.
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Taylor, 31, has an average of almost 35 in 23 previous Tests and brings a wealth of experience to the side, whereas the 28-year-old Jarvis last played five-day cricket in early 2013.
Graeme Cremer will continue as captain but the squad has been overhauled after July's tour to Sri Lanka with all-rounders Tendai Chisoro and Solomon Mire and wicketkeeper Nyasha Mayavo all in line for a first cap.
West Indies announce squad for Zimbabwe tour
There were also recalls for bowlers Chamu Chibhabha and Michael Chinouya. Both Tests will be played at the Queens Club in Bulawayo. The first Test starts on Saturday with the second scheduled for October 29 to November 2.
Squad:
Graeme Cremer (captain), Regis Chakabva, Chamu Chibhabha, Michael Chinouya, Tendai Chisoro, Craig Ervine, Kyle Jarvis, Hamilton Masakadza, Nyasha Mayavo, Solomon Mire, Christopher Mpofu, Peter Moor, Sikandar Raza, Brendan Taylor, Malcolm Waller, Sean Williams.
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