Foreign Minister Julie Bishop will be the first Australian minister to visit Timor-Leste in five years when she goes as part of an Asian tour.
Ms Bishop will visit Timor-Leste, Malaysia, Singapore and Indonesia from July 29 to August 7 and reaffirm Australia's commitment to its regional neighbours in southeast Asia.
"We will discuss deepening our cooperation in security, development and the economy opening a new chapter in the Australia-Timor-Leste relationship," Ms Bishop said in a statement on Sunday.
The two countries have recently signed a treaty establishing permanent maritime boundaries.
Ms Bishop's visit to Malaysia will be the first ministerial visit since that country had its first change in government since Malaysia's independence in 1957.
Labor frontbencher Penny Wong said the relationship between Australia and Timor-Leste had been strained, and she criticised the lack of visits until now.
"In my visit to Timor-Leste in 2017 it was clear that our relationship would have benefited from closer engagement," Senator Wong said.
"Had any minister from either the Abbott or Turnbull Governments made the same visit any time in the past five years, this sore point in our relationship might have been overcome much sooner."