Wales have only beaten their opponents once, back in 1999, but have pushed them close in recent meetings and Jones is in confident mood ahead of the game.
"Warren has instilled a mentality that we can beat them and when we do, then we will really push on," said the British and Irish Lions tight-head prop.
"We have been disappointed a few times we've played against them, especially in Cardiff where we have pushed them hard.
"Until half-time last November against them we were totally dominant and we have to take confidence from that.
"When I first started playing for Wales, if we got within four or five points of South Africa we would be chuffed to bits, but that's certainly not the case anymore.
"This is a big occasion. We have waited and trained hard for it and its massive.
"South Africa are a good side and they always have a very good part. When they are revved up for the game, they can be pretty formidable."