Cullen partners local favourite Ben Gissing in a Leinster pack which includes Shane Jennings, Aidan McCullen and Des Dillon while Peter Coyle partners Gavin Hickie in the front row and Kidney has left vacancies at 1 & 16.
Brian O'Riordan is partnered alongside Christian Warner at half-back with Blackrock College duo David Quinlan and Gary Brown forming the centre partnership.
James Norton and John McWeeney have been named on the wings, with Clontarf back David Hewitt named at full-back.
Barnhall scrum-half - and brother of Brendan - Eoin Burke is named amongst the subs alongside Blackrock full back Conor Kilroy and Lansdowne winger Fiachra Baynes.
Meanwhile, Worcester include England international Pat Sanderson at wing forward and Samoan centre Dale Rasmussen, while Scotland centre Ben Hinshelwood skippers the side.
French international Thomas Lombard has been named amongst the replacements.
Leinster: 15: David Hewitt14: John McWeeney13: Gary Brown12: David Quinlan11: James Norton10: Christian Warner9: Brian O'Riordan1: *AN Other2: Gavin Hickie3: Peter Coyle4: Leo Cullen (Captain)5: Ben Gissing6: Aidan McCullen7: Shane Jennings8: Des DillonReplacements:16: *AN Other17: David Blaney18: Ciaran Potts19: Niall Ronan20: Eoin Burke21: David McAllister22: Conor Kilroy23: Fiachra Baynes
Worcester: (denotes squad numbers which will be worn on Friday):15: Duncan Roke (27)14: Jonny Hilton (17)13: Dale Rasmussen (26)12: Ben Hinshelwood (Captain) (15)11: Ben Gollings (9)10: James Brown (2)9: Matt Powell (25)1: Tony Windo (33)2: Ben Daly (4)3: Chris Horsman (16)4: Phil Murphy (22)5: Craig Gillies (8)6: Leon Greeff (10)7: Pat Sanderson (28)8: Drew Hickey (13)Replacements:16: Steven Sparks (29 - prop)17: Tom Warren (6 - prop)18: Andre van Niekerk (34 - hooker)19: Chris Hall (11 - hooker)20: James Percival (24 - lock)21: Neil Mason (21 - backrow)22: Siaosi Vaili (32 - backrow)23: Clive Stuart-Smith (30 - scrumhalf)24: Neil Cole (3 - scrumhalf)25: Tommy Hayes (12 - outhalf)26: Thomas Lombard (18 - utility)27: Darren O'Leary (23 - utility)28: John Higgins (14 - utility)Referee: Simon McDowell (URS)