Depends on where you stay.. if you are staying in Johannsberg then you can plan for Kruger National Park. And if you are staying in Kenya then Masai Mara National Park. You can opt for 2 to 5 days stay in jungle and enjoy safari ride.
I have visited South Africa twice and have enjoyed the safari. Depending on the places you are covering and staying at, I can guide you about it. However, it is best to take two to three safaris to enjoy the wildlife. You also have the option to stay at the lodge and enjoy wildlife from a close distance, however, it might cost slightly more than staying at a hotel. Masai Mara National Park is one of the best in the world and you will undoubtedly get to view the best of wildlife there.