Beijing views the Dalai Lama as a dangerous separatist campaigning for Tibetan independence and consistently condemns foreign governments who welcome him.
Botswana Foreign Minister Pelonomi Venson-Moitoi told lawmakers that the visit was "purely private" but added that the Dalai Lama would be granted the status of a foreign dignitary.
She did not confirm a government announcement last week that he would meet President Ian Khama, which prompted a stern response from Beijing.
Venson-Moitoi also said in a parliamentary answer that "the principle of non-interference in the international affairs of other countries is at the core of China's foreign policy".
"We therefore expect... China to respect our sovereign decision on this matter."
The Tibetan leader, who lives in exile in India, is due to speak at the three-day "Mind and Life Dialogue" conference in Botswana's capital Gaborone on August 19.
Venson-Moitoi expressed the hope that the visit would not "diminish the existing strong bonds" between the two countries.
The Dalai Lama says he is seeking more autonomy for Tibet rather than outright independence.
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