We reveal that the recently discovered specular Andreev reflection (SAR) [C. W. J. Beenakker, Phys. Rev. Lett. 97, 067007 (2006)] can occur in semiconductors where the spin-orbit coupling is finite. We demonstrate this finding in the hybrid of a two-dimensional electron gas with Rashba spin-orbit coupling and a superconductor. In the limit of low density or a strong spin-orbit coupling, specular Andreev reflection is finite. We also show that unit electron-hole conversion is possible in a specular Andreev reflection due to the different topological structures of the equal-energy surface between electrons and holes. The SAR in the semiconductor is determined by the relative orientation of wave vector to group velocity, which can be analyzed by ray equations.