The reverse singles will be played Sunday, followed by doubles.
Ashleigh Barty and Casey Dellacqua, who reached three Grand Slam doubles finals last year, are expected to play doubles for Australia.
It is Australia's first semifinal appearance since 1993, and the country is trying to win the Fed Cup for the first time since 1974 when Evonne Goolagong led Australia to victory.
The Czech Republic and Italy are playing in the other semifinal this weekend. The winners meet Nov. 8-9 in the final.