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With two rounds of qualifiers remaining, South Africa and Ethiopia are the front-runners in the race for top spot in Group A.
Ethiopia lead the group with 10 points, two ahead of South Africa.
"The situation is self-explanatory... you do not need to be a rocket scientist to see what needs to be done," Igesund said on Monday.
"We [Bafana and Ethiopia] both have two games left, so for us only a win will keep us in contention. We needed to get the three points from the Central African Republic (CAR), and all along I have been saying the key game will be against Ethiopia.
"But the nice thing is that it is in our hands. We need to win this game and then beat Botswana and qualify for the next and final round of qualifiers. We have to take each game as it comes, but a draw is not good for us. I am confident we will be well-prepared for this match."
Igesund's men returned to training on Monday, after a rest day on Sunday, in preparation for the group leaders in Addis Ababa this Sunday.
The team that finishes top of the group will proceed to the play-offs, to be played on a home and away basis. The winner of the two-legged encounter will secure a place to the World Cup.
Midfielder Reneilwe Letsholonyane and defender Anele Ngcongca were rested from training as a precautionary measure.
"The boys are fine. We just didn't want to take chances and have them train when resting would serve them better," Igesund added.
"Letsholonyane has a minor groin strain while Anele is suffering from slight thigh muscle strains. Tomorrow they will train with the rest of the team."
Sunday's fixture will take place at the National Stadium, the same day Central African Republic (CAR) face Botswana in the other Group A match. Both sides have already been eliminated from the race, following their respective losses at the weekend.
Botswana only has one point, and CAR three. Bafana have eight points, two adrift of Ethiopia.
