The Prime Minister will also meet President of the World Bank Group David Malpass and Secretary-General of the United Nations Antonio Guterres, tomorrow (Friday).
Modi arrived in Japan on Thursday arrived in Japan and met with his Japanese counterpart Shinzo Abe and discussed wide-ranging issues.
He also addressed the Indian diaspora later and spoke at length on the ties between India and Japan.
The summit which is being held at Osaka on June 28-29 will be Prime Minister Modi's sixth G20 Summit.
Ministry of External Affairs had said that PM will have a range of bilateral and plurilateral engagements over the next 3 days, to articulate India's views on the global platform
In his departure statement, he said that issues such as women empowerment, artificial intelligence and common efforts to address challenges like terrorism will be high on his agenda.
"The summit will provide an important opportunity to reiterate and reinforce our strong support to reformed multilateralism, which is crucial for preserving rule-based international order in today's fast-changing world," Modi said.
The summit, he said, will also be a platform for sharing India's strong developmental experience of the last five years, which provided the basis for a resounding mandate by the people of India to the government to continue on the path of progress and stability.
He said the two-day Osaka summit will also be an important stepping stone for India towards hosting the G20 summit in 2022 "when we usher in a New India in the 75th anniversary year of our Independence".
On the sidelines, Modi said, he "looks forward to engaging with leaders of our major partner countries on important issues of bilateral and global importance.