Head coach Nigel Davies has chosen to bring back the influential and experienced outside half a week before the Scarlets' opening European cup game against Brive at Parc y Scarlets on October 10th.
Jones was rested as a precaution at last weekend's high profile Welsh derby last weekend in Cardiff, to recover from a slight ankle injury.
Davies said: "Stephen will play for us on Friday which will give him an opportunity to roll into the European game. He's massive for us - he has that level of experience and mental toughness on the field that we need for this game. He brings a real composure and understanding to the team and does boss games particularly well."
"It's not only what he does on the field, it is what he contributes off the field as well and he is hugely respected by all the guys."
On preparations for Ulster, the Scarlets head coach said: "It's a short turnaround for us, however we are comfortable, we know where we are and what we want to do. We are going to have to be that much better than them to win up there and be on top form to get a result; but in any case that's where we need to be now going into Europe."
The Scarlets will rest captain Mark Jones, who picked up a dead leg against the Blues, as well as player-coach Simon Easterby, who left the field after aggravating a knee problem.
Flanker Johnathan Edwards makes his first start of the season ahead of Richie Pugh at openside, a reward for Edwards's impressive form at semi-pro level for Llandovery.
Wales prop Rhys Thomas will also return to the side having missed the last two matches with stitches in a cut knee.
Captain Mark Jones said Friday's encounter will be about registering much needed points in the league and said his Wales team mate's return would boost the team: "I think the team on Friday night will be bolstered by having Stephen back in the squad, he does make a big difference.
"Ulster will be in a good frame of mind leading into this game and I think it's an important game for both teams as we approach Europe. The conditions up there are often difficult and the crowds are very hostile, but these environments are one of the reasons why you play rugby and I think some of the young guys will really relish that and hopefully we can get a good victory.
"Every Magners League game is important but this game becomes important from a points point of view, and icing on the cake will be that extra bit of confidence a win will give us going into the Heineken Cup."
WRU chief executive Martyn Phillips hosted the second meeting of the WRU Youth Board last weekend ahead of the Judgement Day IV regional double-header. Tthe board, made up of 15 under-21-year-olds from around Wales, heard presentations from head of participation Ryan Jones, policy and integrity manager Jeremy Rogers and national women's rugby manager Caroline Spanton, with Pro Rugby Wales CEO Mark Davies also on hand to hear the range of views aired.
Wales duo Rhun Williams and Liam Belcher, who makes a welcome return after five months of injury woe, look ahead to next month's World Rugby U20 Championship in Manchester where they will face Ireland, Georgia and New Zealand.
Whenever Bedlinog tackle Penallta a massive fixure is guaranteed but this Sunday there will be even more emphasis placed on the two rivals when they contest the SSE Swalec Plate final at Principality Stadium.
Ahead of their SSE SWALEC Bowl Final clash with Taffs Well at Principality Stadium on Sunday, Burry Port share their #FABXV nomination with WRUTV in the search for Welsh rugby's greatest volunteers. Everyone can get involved by sending nominations via twitter to @WRU_Community using the hashtag #FABXV
Cardiff Blues prop Gethin Jenkins and Ospreys centre Ben John look ahead to the first game at Principality Stadium in Saturday's double header which is promising to be a special occasion for all Welsh fans.
Carmarthen Quins Director of Rugby Ian Jones and committee member Jeff Thomas along with Llandovery chairman Handel Davies look ahead to Sunday's SSE SWALEC Cup showdown where both teams are out to prove 'West is best'
SWALEC ambassador Shane WIlliams is looking forward to Sunday's Finals Day where the Cup, Bowl and Plate offers a great opportunity for players and teams to experience the magic of playing at Principality Stadium
Carmarthen Quins coach Richard Kelly believes it is an exciting time to be part of the Scarlets region as his side take on local rivals Llandovery in the SSE Swalec Cup final on Sunday, as WRU TV's Graeme Gillespie discovers