Steyn plays as Pakistan bat against South Africa
South Africa's Dale Steyn (R) pictured during the fourth day of the first Test against Pakistan in Abu Dhabi on October 17, 2013
The 30-year-old fast bowler suffered the injury on Sunday and had a fitness test in the morning, which he cleared.
South Africa, trailing 1-0 in the series after losing the first match in Abu Dhabi by seven wickets, made two changes. They were already without star batsman Hashim Amla, who returned home for the birth of his second child.
Dean Elgar replaced Amla while left-arm spinner Robin Peterson made way for leg-spinner Imran Tahir.
Pakistan, seeking their first series win over South Africa in ten years, kept the same line-up.
South Africa: Graeme Smith (capt), AB de Villiers, JP Duminy, Faf du Plessis, Dean Elgar, Jacques Kallis, Dale Steyn, Morne Morkel, Alviro Petersen, Imran Tahir, Vernon Philander.
Pakistan: Khurram Manzoor, Shan Masood, Azhar Ali, Younis Khan, Misbah-ul-Haq (capt), Asad Shafiq, Adnan Akmal, Saeed Ajmal, Zulfiqar Babar, Junaid Khan, Mohammad Irfan
Umpires: Rod Tucker (AUS) and Ian Gould (ENG)
Tv umpire: Paul Reiffel (AUS)
Match referee: David Boon