"Imagining new horizons for an old friendship. PM @narendramodi in a tete-a-tete with @SAPresident," External Affairs Ministry Spokesperson Vikas Swarup tweeted.
The prime minister was accorded a ceremonial welcome upon his arrival at the Union Buildings here.
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Ahead of his arrival here, the prime minister had said that South Africa "is an important strategic partner, with whom our ties are historical and deep-rooted."
Modi will address a India-South Africa business meet during his stay in South Africa with which India has a two-way trade reaching $5.3 billion in 2015-16.
Modi, who arrived from Mozambique, will head on to Tanzania and Kenya on an itinerary aimed at demonstrating India's engagement in the continent.
Modi will attend a large Indian diaspora gathering at a stadium in Johannesburg in the evening before visiting Durban, the heart of the Indian community in South Africa, on Saturday.
India and South Africa have been campaigning for reform of the UN Security Council.
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