Just wait a few days after the game and usually someone posts the full game on youtube. Just search for South Africa vs All blacks 2013 full or something along those lines and you should find it. Sometimes rugbydump also posts full match replays.
I had the impression that the problem was the pass to TD, which went slightly forward, not his knock on, which was fine since it came off his boot. So they were actually called for a forward pass, not a knock on IMHO. TBH i didn't hear what the ref or commentators said as I was watching it down at the pub, so it might be that Joubert gave a different explanation.