The two leaders will meet in the eastern city of Dresden.
Mr Obama also plans to visit the Nazi concentration camp in Buchenwald and then go to a hospital to meet US troops injured in Afghanistan and Iraq.
Mr Obama flew to Germany from Egypt, where he said the "cycle of suspicion and discord" between the United States and the Muslim world must end.
Guantanamo issue
Mr Obama needs to convince an increasingly sceptical American public that the war in Afghanistan is worth fighting, the BBC's Steve Rosenberg in Berlin says.
So he will use his trip to Germany - and then the D-Day commemorations in France - to send a strong message back home that the fight against tyranny demands sacrifice, our correspondent says.
He says the US president has also for months been encouraging European government to shoulder more of the burden in Afghanistan and to send more combat troops to take on the Taleban.
Washington also would like to see European countries take in dozens of detainees from Guantanamo Bay, but so far there has been little enthusiasm across Europe, our correspondent adds.
Ovation in Cairo
In a keynote speech in Cairo on Thursday, Mr Obama called for a "new beginning" in US relations with the Muslim world.
He admitted there had been "years of distrust" and said both sides needed to make a "sustained effort... to respect one another and seek common ground".
Mr Obama said the US bond with Israel was unbreakable but described the Palestinians' plight as "intolerable".
The president made a number of references to the Koran and called on all faiths to live together in peace.
He received a standing ovation at the end of his speech at Cairo University.
White House officials had said the speech was intended to start a process to "re-energise the dialogue with the Muslim world".
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