The first of two Tests will be played at Ellis Park on Sunday (NZ time) and at Cape Town a week later.
Taylor said, "It's always special coming here, such a unique rivalry.
"They're the best in the world and they're playing like it, so it's going to be an awesome challenge for us as a team. But, I'm looking forward to the next couple of weeks being over here and what's going to happen."
Taylor said the adaption to the altitude of Johannesburg would be helped by arriving in South Africa a little earlier.
"We should be humming by Tuesday to have a good run around. It's just the mindset at the end of the day. You have to get out there, get stuck into it and have some fun."
Replacement prop for Ethan de Groot, George Bower said he was grateful for the chance to be involved in South Africa.
"I got the phone call on Wednesday, so I'm excited about the next two weeks and about being a part of it.
"I've only played at Ellis Park once, that was the last time we played in 2022 and that was an awesome, awesome win. It was one of my favourite games I've been a part of."
Bower said the traditional rivalry between the sides made it a unique feature of Tests.
"It's a rivalry that dates back long before I was born, and it's a rich history in terms of rugby and the relationship between the two countries.
"You always come here as a Kiwi, and they really respect you, but then on the field, they give you the best challenge ever.
"And the supporters here, they love the All Blacks as well. They're very respectful and get behind us as well. They're awesome."
All Blacks strength and conditioning coach Nic Gill said the approach at their first run in Johannesburg after their arrival was to get everyone into the right time zone.
"This time of the week is just about getting the body right. We fly a long way, it's a big time shift and it's just getting the body moving and [having] a bit of fun. The boys are just like little kids. You make up a game and have a ball involved and they laugh and giggle and cheat, so it's good fun."