After missing the defeat to Wales with a chest injury, Joseph comes in with Sam Burgess dropping to the bench.
Ben Morgan is in at number eight, and Joe Launchbury replaces Courtney Lawes – who has a knee problem.
Nick Easter is named as a replacement having been called into the squad this week.
Australia have named the same team that beat Fiji in their opening game.
Australia and former Leinster coach Michael Cheika says they need to show strength where England think they are weak.
There's two games today including one in Irelands group.
France meet Canada in Milton Keynes at 8 while pool A Wales will go top if they beat Fiji at the Millennium stadium.
Kick off is at 4.45
