The platoon that Van Jaarsveld was a member of were busy checking their kit just outside the base as they were heading out on a patrol. An RPG 7 rocket carried by another soldier misfired and hit Van Jaarsveld. He did not die immediately. He was flown to the RSA and died a few days later.
https://www.izkor.gov.il (Israeli Fallen Soldiers & Victims of Terrorism database — search by name)