Joachim Loew's side beat Cameroon 3-1 on Sunday to set up the clash on Thursday, with Rudiger playing the full 90 minutes for the second time in the competition.
Kerem Demirbay and Timo Werner (twice) scored the goals for Germany, as they finished top of Group B.
Portugal will face Chile in the competition's other semi-final. The final takes place on Sunday July 2.
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