France put their poor form from the pool stages behind them as they toppled England 19-12 in the quarter-finals.
However Wales have been the surprise package of the tournament, with Warren Gatland's side having won four games since just being denied by South Africa in their opening game.
And although France have the advantage in the head-to-head encounters - Les Bleus have won nine of their past 11 meetings - Harinordoquy insists Wales will be the favourites at Eden Park.
"We prefer to be the outsiders - it is better for your preparation that way," he said.
"But this is the semi-final of a World Cup. We don't have to look at whether we are outsiders or favourites... we need to look at what we want to do.
"They are in a semi-final of a World Cup - they are a good team, they have good spirit, they have young players and the most dangerous thing for us is they are very fluid.
"On the pitch they are more dangerous than England because you don't know what they are going to do.
"They are agile and very skilful players. They have good footwork and their forwards are very brave as well.
"We can analyse their games from video, but once the game is on the field, that is where the problem starts. We will have to be able to face the challenge. Sometimes we will have to put up with their attacks. We can't panic."
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