Wearing a garland of red roses, Malik was escorted to the shrine amid a crowd of media persons and common people eagerly waiting to catch a glimpse of him.
"I had decided whenever I will come to Delhi, I will visit this dargah. My father used to come here," he said.
There was a buzz in the shrine premises since the morning due to the expected visit of Malik who was on a three-day official visit to India.
The Pakistani leader first also visited the shrine of Amir Khusro and offered namaz at the mosque on the same premises.
Nazim Nizami, Dewan Tahir Nizami, Dewan Masood Nizami and Syed Ajmal Nizami, who claimed to be the descendants of Hazrat Nizamuddin Auliya, were with the minister during the visit.
"I had met Rehman Malik five years ago in Pakistan and invited him to visit the dargah (shrine). We all are happy that he came here,” Nazim Nizami said.
Malik was presented a green turban on the occasion.