The tour, which kicks off on September 23 and ends on October 2, will see Prince Harry return to his "second home."
"In just a few weeks our family will be taking its first official tour to Africa, a region of the world that over the past two decades has been a second home to me," the royal wrote on Instagram earlier this month.
"Our team has helped create a meaningful programme that we're so excited to share with you. On a personal note, I can't wait to introduce my wife and son to South Africa! We'll see all of you very soon."
Harry and Markle will undertake joint engagements in Cape Town for the first three days of the tour. Then, the couple will split up to attend solo engagements, with Harry travelling to Botswana and Markle remaining in Cape Town.
Here's the full itinerary below:
Monday, September 23 — Wednesday, September 25: South Africa
The tour will kick off in Cape Town, where Harry and Markle will watch a children's workshop that teaches self-defense and female empowerment, before moving on to the District Six Museum and a community cooking class at the nearby Homecoming Centre.
On Tuesday, the family will travel to Monwabisi Beach to learn about the mental health charity, Waves for Change, and another charity, The Lunchbox Fund.
Harry and Markle will then meet with Dr Thomas Maes, leader of the Commonwealth Litter Programme, an initiative to tackle plastic waste in oceans.
Harry will travel to Seal Island, Kalk Bay with the City of Cape Town Marine Unit to learn about their role in combating the poaching of abalone (shellfish).
In the afternoon, Harry and Markle will visit the Bo Kaap area before attending a reception at the British High Commissioner's Residence.
The following morning, the couple will meet Archbishop Desmond Tutu and Mrs Tutu before splitting up for individual engagements.
That afternoon, Markle will visit the Woodstock Exchange to meet female entrepreneurs and investors working in technology. Meanwhile, Harry will travel to Botswana.
Thursday, September 26: South Africa, Botswana, and Angola
On Thursday, Harry will plant trees with schoolchildren at Chobe Forest Tree Reserve.
He will then pay a visit to a local project run by his charity, Sentebale, before travelling to Chobe National Park, where he will dedicate an area to the Queen's Commonwealth Canopy.
The duke will then travel to Angola, where he will spend the evening at a HALO Trust demining camp.
Back in Cape Town, the duchess will attend a private "Women in the Public Service" breakfast at the High Commission.
Friday, September 27 — Sunday, September 29: Angola and Malawi
On Friday, Harry will detonate a mine at a demining field outside Dirico before travelling to Huambo, where Princess Diana was famously photographed walking through a minefield in 1997.
The area has now been transformed to a busy street with schools, shops, and houses.
He will then visit the Huambo Orthopaedic Centre, also visited by his mother in 1997. The centre has been renamed in Diana's honor, and this will be unveiled by Harry during his visit.
A senior palace source told The Sun: "This is all about wanting to fulfill his mother's legacy."
In the evening, he will attend a reception at the British Ambassador's Residence in Luanda.
On Saturday, the duke will visit the Presidential Palace before making his way to the Maternity Hospital Lucrécia Paim, where he will see the work of "Born Free to Shine," an initiative which focuses on preventing the HIV/AIDS transmission from mothers to babies.
On Sunday, the duke will travel to Malawi, where he will visit the Nalikule College of Education in Lilongwe. In the evening, he will attend a reception hosted by the British High Commissioner.
The duchess has no official engagements listed on these days.
Monday, September 30 — Tuesday, October 1: Malawi and South Africa
On Monday, Harry will fly to Liwonde National Park, where he will watch an anti-poaching demonstration exercise by local rangers.
The following day, he will visit Mauwa Health Centre, Pharmacy in a Box and Youth Reproductive Health Outreach programme.
Back in Cape Town, Markle will attend a roundtable discussion with Association of Commonwealth Universities in Johannesburg, to discuss the challenges young women may face in accessing higher education.
This is something the royal has spoken about in the past. Speaking to students at the University of South Pacific during her tour of Fiji last October, the royal said it was scholarships, financial aid, and an on-campus job that "went directly towards my tuition."
However, her estranged father, Thomas Markle, recently spoke out against the claims, saying "that is completely untrue."
"I paid every penny for her tutition and I have bank statements to prove it," he added.
The duchess will then visit a local school which receives UK Aid funding for its work to raise awareness of and tackle sexual violence in schools.
Meanwhile, the duke will travel back to South Africa, where the family will reunite for the final leg of the tour.
Wednesday, October 2: South Africa
Harry and Markle will resume joint engagements for the final day of tour, beginning with a visit to a township near Johannesburg, where they will meet with local youth and entrepreneurs.
They will then meet with Mrs Graça Machel, widow of the late former President Mandela, before attending a reception to celebrate the UK and South Africa's business and investment relationship.
For their final engagement, the duke and duchess will attend an audience with President Cyril Ramaphosa and his wife Dr Tshepo Motsepe.
The family will travel back to London that evening.