Zuma would meet Malaysian Prime Minister Dato' Sri Najib Tun Razak during his trip on Monday, the international relations department said on Friday.
He would also accept a lifetime award for global peace, on behalf of former president Nelson Mandela, from the Mahathir Global Peace Foundation.
Zuma would be accompanied by International Relations Minister Maite Nkoana-Mashabane, Minister in the Presidency Collins Chabane, Trade and Industry Minister Rob Davies, Public Enterprises Minister Malusi Gigaba, Defence Minister Nosiviwe Mapisa-Nqakula, Science and Technology Minister Derek Hanekom, and Energy Minister Ben Martins.
The international relations department said 2013 marked the 20th anniversary of formal diplomatic relations between the two countries.
It said South Africa was the largest investor in Malaysia from Africa, with investments in the petro-chemicals, insurance, food and beverages industries.
South African business people were part of the delegation and would attend the South Africa-Malaysia Business Forum.
Total trade between South Africa and Malaysia grew from about R13.8-billion in 2008 to R19.7-billion in 2012. – Sapa