Steinmeier arrived in India earlier day to embark on his maiden four-day visit.
He was accompanied by his wife Elke Büdenbender and a delegation of media, Chief Executive Officers (CEOs) and indologists.
Earlier in the day Germany's First Lady Büdenbender paid a visit to the historical monument Taj Mahal situated at Agra in Uttar Pradesh.
The Steinmeier's visit to India is considered significant after German Chancellor Angela Merkel was re-elected to the German Parliament for a record fourth term on Wednesday.
Last year, Prime Minister Narendra Modi visited Germany in May. (ANI)