The 266th and current Pope of the Catholic Church, a title he holds ex officio as Bishop of Rome, and sovereign of Vatican City, is due to make a three-day visit to Bangladesh from Nov 30 to Dec 2.
It will be on the second leg of a tour that also takes him to Myanmar from Nov 27-30.
Both Bangladesh and Myanmar are caught up in a crisis over the Rohingya Muslim minority.
Vatican Radio released the video, which has English subtitles, on Tuesday.
“I come as a minister of the Gospel of Jesus Christ, to proclaim his message of reconciliation, forgiveness, and peace,” says the Pope.
“My visit is to confirm the Catholic community in Bangladesh in its faith and witness to the Gospel that recognises the dignity of every man and woman and calls us to open our hearts to others, especially to the poor and needy.”
“We live in times in which believers and men of goodwill in all places are called to promote reciprocal understanding and respect and to sustain each other as members of one human family,” Pope Francis says.
He has mentioned his special interest to meet religious leaders at Ramna in Dhaka during his stay.
Catholics make up a tiny minority in Bangladesh. Francis will be the second Pope to visit the country, after Pope John Paul who came here in 1986.