In a letter sent to African leaders this week, which was obtained by NBC News, the president says he "deeply respects" the people of Africa and promised "strong and respectful relationships" with the continent's countries.
In the letter addressed to African leaders ahead of the 30th African Union Summit holding now in Addis Ababa, Trump notes that the USA "profoundly respects" the partnerships and values shared by the United States and Africans.
Trump's remarks, made in the White House, came as Democratic Senator Dick Durbin and Republican Senator Lindsey Graham briefed the president on a newly drafted immigration bill being touted by a bipartisan group of senators, according to the sources, who asked not to be identified.
The Associated Press reported that the letter by Trump says that the USA "profoundly respects the partnerships and values shared by the USA and Africans and that the president's commitment to strong relationships with African nations is firm".
Many in Africa were taken aback by the comments after almost a year of little attention by the Trump administration to the world's second most populous continent.
On Friday, Trump met with Rwanda's president and new African Union chair Paul Kagame at the World Economic Forum, calling Kagame a "friend".
"Our soldiers are fighting side-by-side to defeat terrorists", he said, and "we are working together to increase free, fair and reciprocal trade".
The letter gives no details on Mr Tillerson's upcoming visit.
Is there snow in this week's forecast?
Temperatures warm slightly with highs in the lower 40s on Tuesday and then middle 50s on Wednesday . Forecasters predict a high Monday near 44 degrees with a northeast wind of 7 to 10 miles per hour.
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Neither side referred to Trump's vulgar comment.
"Had very good bilateral meeting with @realDonaldTrump!"
The 55-nation, African Union summit this weekend is being held in the Ethiopia capital of Addis Ababa.
The letter offers Trump's "deepest compliments" to the African leaders as they gather.
The 55-nation African Union chaired by Kagame demanded an apology, although Trump had denied making the remark as relayed by USA lawmakers that were present at the meeting.
In the days that followed, US diplomats scrambled to address the fallout from the comments.
The State Department's Bureau of African Affairs, trying to calm things down, has tweeted that "the United States will continue to robustly, enthusiastically and forcefully engage" with African countries.
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