Their inclusion is a further boost to the Wallabies who will also have the services of impressive utility back Adam Ashley-Cooper, who missed last week's 25-19 Rugby Championship victory over Argentina with concussion.
Mitchell and Palu have both endured horror stretches with injury, with the winger who has managed just four matches in the past two season making a return after injuring his ankle in the first Test of the season against the All Blacks in August.
Palu has not represented Australia since he suffered a shoulder injury in last year's World Cup, while Kepu returns from a knee injury to be ready for the Suncorp Stadium showdown.
Veteran Nathan Sharpe will again captain the team in the absence of injured skippers James Horwill, David Pocock and Will Genia.
Australia: Backs - Mike Harris, Nick Cummins, Drew Mitchell, Dominic Shipperley, Digby Ioane, Adam Ashley-Cooper, Ben Tapuai, Anthony Fainga'a, Pat McCabe, Kurtley Beale, Nick Phipps, Brett Sheehan. Forwards - Wycliff Palu, Radike Samo, Scott Higginbotham, Michael Hooper, Liam Gill, Dave Dennis, Rob Simmons, Sitaleki Timani, Nathan Sharpe (C), Kane Douglas, Sekope Kepu, Paddy Ryan, Ben Alexander, James Slipper, Benn Robinson, James Hanson, Saia Fainga'a, Tatafu Polota Nau.
