The sides are expected to discuss bilateral cooperation as well as the key issues on the international and regional agenda.
Upon arrival, Lavrov briefly spoke with Mali's foreign minister.
This is the first time the Russian foreign minister is visiting Mali. Diop in turn came to Moscow for talks in 2021 and 2022.
After Mali, Lavrov will travel to Mauritania and Sudan.
While in Mali, Lavrov will discuss regional and international issues, including the situation around Ukraine, during his visit to Mali, the Russian Foreign Ministry said on Tuesday.
"A thorough exchange of views is planned on international and African issues with an emphasis on the events around Ukraine, the settlement of crisis situations and the fight against terrorism in the Sahara-Sahel [region] and West Africa," the ministry said in a statement.
Additionally, during the visit, Lavrov will discuss the practical aspects of the upcoming supplies of Russian wheat, fertilizers and oil products to Mali, the statement read.
"[The sides] are also expected to consider the issues of further strengthening military and military-technical ties, training Malian specialists in the universities of the Ministry of Defense and the Ministry of Internal Affairs of Russia, promoting cooperation in the area of law enforcement agencies and in the field of anti-terror," the ministry added.
Relations between Russia and African countries have been actively developing in recent years. In 2019, Russia hosted the first ever Russia-Africa Summit, with participants outlining priority areas for economic cooperation, security, culture and science. The second summit in this format is scheduled to take place in St. Petersburg from July 26-29, 2023.