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."
Wales Under 18 captain Callum Bradbury is delighted to have seen his side claim a narrow 18-17 victory against a strong SA Schools 'A' side to end the three-match Under 19 International Series in South Africa on a high note.
The Wales U18 squad spent an emotional day in the drug-riddled townnship of Hout Bay. Hout Bay Warriors President Fred Johannes said the visit was 'the talk of the town' and will dream about the day everyday for the rest of his life.
RGC 1404's new head coach Mark Jones is hoping to build 'something special' in north Wales and is already looking forward to the development region participating in the Principality Premiership for the very first time.
A joint venture between the WRU and Admiral saw hundreds of children enjoy the Admiral Festival of Rugby held at the National Centre of Excellence at the weekend where Welsh internationals Sam Warburton, Scott Williams and Rob Evans were in attendance.
Wll Jones leads Wales U18s into battle this afternoon against Italy where the Welsh side will be seeking to bounce back from their narrow defeat to SA Schools in their opening clash of the U19 International Series
All four regions attended a successful training camp staged last weekend at the WRU National Centre of Excellence. It was a chance for new Wales Women's head coach Rowland Phillips to deliver his key messages to players and coaches as he prepares for the new season.
Wales U18 Team Manager Gethin Watts believes the next couple of weeks will be 'extremely beneficial' to the future of Welsh rugby as his side prepare to take part in the Under 19 International Series being staged in South Africa.
The WRU is searching for 12 new rugby development apprentices following a successful first year of its WRU Coach Core programme. Craig Duncan and Jess Hancock have flourished in the first year of the programme which has given them a real direction in their lives.
The WRU signed TV comedian Rhod Gilbert up to a 'Coaching Children Level 1' course before letting him loose on an U8s side at Whitland Junior Borderers - we went behind the scenes to film the making of 'Rhod Gilbert's Work Experience' see the results here.
Llandovery are aiming to make it three titles in a row in this year's Foster's National 7s being held at BT Sport Cardiff Arms Park on Sunday 28 August. Drovers assistant coach Simon Davies and Lee Rees assess their sides chances
A pioneering strength and conditioning programme has been delivered to more than 8000 boys and girls at hub schools throughout Wales this season, helping to develop stronger, more flexible athletes for rugby and other sports.
The Singha Premiership Rugby 7s Series returns to the BT Sport Cardiff Arms Park on July 22nd when all four Welsh regions go head to head. Scarlets skills coach Dai Flanagan and Blues Elite Performance Pathway Manager Richard Hodges along with current Welsh squad members were at the launch of this season's event