Each leader's place was marked with the country's flag to denote their standing position.
He will share stage with Chinese President Xi Jinping.
Indian Prime Minister Narendra Modi will also travel to South Africa for the BRICS summit.
The action plan was adopted earlier this month at the BRICS Summit at which Prime Minister Narendra Modi led the Indian delegation.
Apart from Modi and Xi, the meeting will be attended by Brazil President Mr Jair Bolsanaro; Russian President Vladimir Putin and South African President Cyril Ramaphosa.
21st round of India-China border talks, led by Special Representatives (SR) National Security Advisor Ajit Doval and his Chinese counterpart and Foreign Minister Wang Yi, were held at Chengdu in China in November last year.
The first India-China Joint Training Programme for Afghan diplomats began on Monday and will continue till October 26, according to the Ministry of External Affairs.