A spokesperson for the family, Nkosi Zwelivelile Mandela, said: "He'll come just before the opening (of the ceremony) to greet the fans before heading home."
"He's going to greet the fans for anything betweeen 15 and 30 minutes, but will watch the match at home."
Madiba, who turns 92 in just one week, has appeared frail when he makes his increasingly rare public appearances.
The Nobel laureate played a crucial role in bringing the World Cup to South Africa, but has yet to attend a match.
He cancelled his appearance at the June 11 opening ceremony after his 13-year-old great-granddaughter died in a car accident on the eve the tournament.