His trip to Cuba will be the pontiff's second visit to Latin America, home to almost half of the world's Catholics. Benedict XVI visited Brazil in 2007.
Amnesty International says Cuba must reform an arbitrary exit permit scheme affecting all Cubans, after a prominent blogger was again blocked from travelling abroad.
As Cuba moves toward a post-Fidel Castro society, its churches are finding ways to "give a Christian witness with integrity" in a state-controlled country.
The general secretary of the US National Council of Churches has welcomed a White House decision lifting travel restrictions between the United States and Cuba.