Halfpenny has been out of action since pulling out of the Lions tour to South Africa in June with a thigh injury.
But the Wales wing ace is back for the Blues’ final pre-season friendly ahead of next week’s Magners League opener.
Halfpenny, 20, said: “It was frustrating to pick up the injury and not be able to play more matches in South Africa.
“I was really pleased with last season but I can’t wait to get back on the pitch. I’m young and I hope my chance will come again.
“Playing regularly for the Blues was great but getting selected for Wales and the Lions was a dream come true.”
Halfpenny’s Lions team-mates Jamie Roberts and Andy Powell have been rested for the clash at the Cardiff City Stadium while Tom Shanklin, Martyn Williams and Gethin Jenkins are out through injury.
