The visit to the Holy See will take place during a tour to celebrate links between the UK and Romania, Italy, the Vatican and Austria.
The Royals will meet the Pope at a private audience on an unconfirmed date between March 31 – April 5.
He voiced his support for the work of Aid to the Church in Need at the charity’s Advent reception in December.
The Prince of Wales delivered an impassioned appeal on behalf of persecuted Christians in the Middle East at the reception.
Pope Francis called on Christians to remember those who suffer because of their religious beliefs in a video message outlining his prayer intentions for March.
This will be Prince Charles and the Duchess of Cornwall’s first meeting with Pope Francis. They met Benedict XVI at a private audience in 2009.
Queen Elizabeth II and the Duke of Edinburgh met Pope Francis in 2014.
The Queen gave the Pope a hamper of royal estate products; he presented her with an orb of lapis lazuli and a gift for Prince George.
The Queen has met five popes during her 65 year reign, starting with Pius XII.