The King and Queen will meet the new Pope during a state visit to Vatican City next month.
The couple will join Leo XIV, who was elected pope earlier this year after the death of Pope Francis, in late October to celebrate the 2025 jubilee year, Buckingham Palace said.
The Catholic Church typically marks a papal jubilee every 25 years.
Charles and Camilla's visit is expected to celebrate the ecumenical work by the Church of England and the Catholic Church, reflecting the Jubilee year's theme of walking together as "Pilgrims of Hope".
The King is Supreme Governor of the Church of England, a role which dates back to Henry VIII, who named himself Supreme Head of the Church of England after he was excommunicated by Pope Paul III and broke from the Catholic Church in the 16th century to marry Anne Boleyn.
The King and Queen had a meeting with Pope Francis just 12 days before he died.
Their historic state visit to the Vatican in early April was cancelled due to the then-pontiff's poor health, but they managed to visit him privately during their trip to Italy.
The meeting with Francis, in what would be the final weeks of his life, was arranged at the last minute and took place on their 20th wedding anniversary on 9 April, with the pontiff wanting to personally wish them a happy anniversary.
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In an official message released following the news of Francis's death on 21 April, the King said he and the Queen were "most deeply saddened".
In May, Charles sent a private message to Pope Leo XIV congratulating him on his election, Buckingham Palace said.
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