A colourful reception was accorded to the Indian leader at the Al Husseinieh Palace, where he drove straight from the airport after a six-hour flight from India.
The President and the King, who wields all the power in Jordan, met for half-an-hour before delegation-level talks.
The King thereafter hosted a lunch for the Indian leader who is accompanied by Union Minister Thawar Chand Gehlot and six MPs including K V Thomas of Congress and Meenakshi Lekhi of BJP.
Ahead of his visit, the President called his trip to the three countries as "historic".
Continuing violence in Israel and Palestine in recent weeks, which has resulted in heavy casualties, led to curtailment of the President's plans to visit some of the historic places there and has led to deployment of extra security.