Both teams have two wins and two losses from the first four rounds of the season.
And though veteran centre D'Arcy scored his 60th try for Leinster in their 37-23 bonus win against Cardiff Blues at the RDS Arena last weekend, he admits their fierce Irish rivals pose a different kind of challenge.
Munster have not beaten Leinster in their five clashes at the Aviva Stadium and D'Arcy feels that in order for this record to continue, his side must build upon knowledge gained from previous encounters between the two sides.
"The great thing about being this old is that you have plenty of experience," the 34-year-old told the club's website.
"I know if you go in half-cocked against Munster then you'll get absolutely blown out the gate.
"I know their leadership group, I know their players well enough that they will be absolutely spitting fire after the weekend (defeat against Ospreys) and they'll be looking for a reaction.
"It's about the physicality, it's about trying to create that go-forward ball. They will bring that to the game and the challenge to us is that we don't get caught napping. We're physically ready and mentally ready for the battle."
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