Jenkins, the former world record points scorer, Wales and British and Irish Lions legend and current Wales skills coach, has fond memories of the day he notched up 19 points to seal a 29-19 victory over the then world champion Springboks in the Millennium Stadium' inaugural match on 26 June nearly 11 years ago.
And Jenkins sees the similarities between that match and the one next month when the Springboks will turn up in Wales as reigning world champions again for a one-off fixture which launches the Rugby World Cup countdown for both sides.
He has not only kicked Wales to their only victory against South Africa but was also an integral part of the British and Irish Lions series victory on Springbok soil in 1997, so he knows victory is possible if fans can help revive the atmosphere of '99.
"We know they are beatable, but Wales have only managed it once in over 100 years so the stats say it all," said Jenkins.
"From a personal point of view I've been on the winning side against the Springboks just once for Wales and twice for the Lions.
"But what a memorable day that was, a 29-19 victory in the first match at the Millennium Stadium on 26 June 1999.
"We knew we'd never beaten South Africa, but we were also full of confidence at the time, the Springboks had just put 100 points on Italy, but we were ready for them and the all new 'Millennium Stadium' factor came into play - which is exactly what we need to happen next month."
Jenkins recalls that the Millennium Stadium was only a third full due to building works in 1999, but with approximately 50,000 tickets sold for the meeting next month there will be at least double the amount of fans baying for a Welsh victory on 5 June and he expects the supporters to play a significant role.
"Just like South Africa in '99 we will be itching for victory but we have a huge task ahead of us," said Jenkins.
"Wales are still playing that high risk, high reward brand of rugby and under Warren Gatland we are going into the three Tests, against the Springboks at the Millennium Stadium, and the two games on tour in New Zealand in June, very much up for the challenge.
"Against the Springboks the fans can help us like they did in '99. The Stadium was only at part capacity then with only 27,000 fans allowed in because it was basically still under construction, but the atmosphere suggested there were many more Welshmen in there and we of course knew the whole nation was watching in one way or another.
"We were playing them on the back of a really good Six Nations campaign for us, were we beat England and also France in Paris so our confidence was high.
"We'd sent a squad over to South Africa in the previous summer which had taken a 96-13 beating in Pretoria, but that side was without several senior players. That loss had hurt us but we met them again at Wembley that Autumn and put in a much better show posting a three point lead with just minutes to go before finally surrendering to a 28-20 loss.
"But this match was to be part of a 10 match winning run for Wales under Graham Henry, it was our 6th win in a row.
"I remember making a nervy start and missing a simple kick early on, but we scored two tries in the first half and I think I had a hand in both of them and we went in at the break with a 19-6 lead.
"We knew the second half would be tough and as much was said in the dressing room. South Africa never wanted to lose to Wales, we'd managed one draw in 12 attempts at the time and there were 40 minutes ahead of us in which we could make history. This was a huge game, like those against England, facing the Springboks you just have to be up for it, this was one of those 'one off' matches."
Jenkins is also looking forward to renewing acquaintances with the man in charge at the time of the historic victory over the Springboks when Wales tour New Zealand later in June, current All Blacks coach Graham Henry.
"Graham is a fantastic coach, far and away one of the best coaches in the world game and from a personal point of view I can't over state the impact he made on my own personal playing career," added Jenkins.
"He came to Wales at a time when we were struggling and made an instant impact. Personally he changed the way I played the game, he told me to stand a lot flatter and have the confidence in my passing skills.
"He allowed you to take risks, he told me and the rest of the team that risk taking was all part of the game. It gave us the confidence we needed, he didn't mind if we made mistakes if we were trying things. I knew I could take a risk and wouldn't get a dressing down if it went wrong and that was really liberating for me and made me the player I was.
"It wasn't revolutionary, but it was exactly the right thing for me at that time in my career and his approach was spot on for that Welsh team. He took us on a magnificent journey and the best winning run of that generation and beyond and he had a lot to do with the first and only Welsh win to date over South Africa that day.
"I've got a lot to thank Graham for and I have the utmost respect for him as a rugby coach and as an individual. It's going to be great coming up against him on his home patch in New Zealand with Wales later in June after the Springboks Test and we are all really looking forward to it. He will be wanting to put us away and any thought of the lasting friendships he and Steve Hansen have with Wales will be put aside for the 80 minutes of each Test."
Tickets for the Wales v South Africa fixture are currently on public sale and are selling fast.
Priced at £25 per person or £80 for a family ( 2 adults, 2 children) tickets for the 'Principality Building Society Summer Test' can be purchased from at the WRU's Cardiff Arms Store (No 8 Westgate Street, Cardiff); via Ticketmaster (tel 08442 777888, www.ticketmaster.co.uk), Ticketline (02920 230130, www.ticketlineuk.com) and via the WRU Official Website www.wru.co.uk/tickets.
The remaining WRU hospitality packages can be snapped up from £119 for the 'SA Gold' package and fans should act fast to secure the hottest tickets via the official website www.millenniumstadium.com.
Further hospitality information is available online for all packages including the 'Platinum Suite' at £229 and the recently launched after popular demand. 'Springbox Suite' at £139.