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."
The WRU has teamed up with Crawshay's to tour Georgia in June. The side, which will be called the Crawshays WRU President's XV, will play Emerging Georgia twice, in a tour which supports the Welsh Government's efforts to grow relations between the two countries.
Wales Sevens are looking to re-group after a disappointing tournament last time out in South Africa. The next double leg in New Zealand and Las Vegas offers Gareth Williams a chance to redeem themselves.
Wales Women's head coach Rhys Edwards was at Llandovery to see the conclusion of an entertaining Women's Regional championship where any one of three teams were in contention for title glory on the last day of action.
Christmas has come early at Glynneath rugby club, one of a number around Wales who have received an array of merchandise and equipment this December courtesy of the Welsh Rugby Union's £750,000 participation points scheme.
The WRU have been delivering on the scheme - which gives individual clubs access to up to £5,000 worth of supplies and equipment each for the 2014/2015 season - over the last two weeks and today (Friday) were received by a special guest in Glynneath, club president and pitch marker Max Boyce.
As the countdown continues for RWC2015, Tournament Chief Executive Debbie Jevans visited the Millennium Stadium to discuss preparations for the eight matches and reveal the positive news that 100,000 tickets for games at the home of Welsh rugby have sold in the last seven days.