The meeting of security chiefs of Brazil, Russia, India, China and South Africa ends on Friday.
Both Ajit Doval and Mr Yang are Special Representatives of the India-China border mechanism. As per the official programme, Mr Doval will also call on Chinese President Xi Jinping tomorrow along with fellow top security officials of the BRICS countries.
Chinese and Indian troops have been locked in a face-off in the tri-junction area for more than a month since Indian troops stopped the Chinese army from building a road in the area.
China claimed that it was constructing the road within its territory. India protested the construction, fearing it would allow China to cut India's access to its northeastern states.
Ahead of Ajit Doval's visit, Foreign Ministry spokesman Lu Kang yesterday reiterated that no meaningful dialogue can be held with India until it "unconditionally" withdraws troops from the Doklam area.
Though China continued to maintain that there won't be a meaningful dialogue without the withdrawal of Indian troops, the Chinese foreign ministry has hinted of a bilateral meeting between Mr Doval and Mr Yang which is part of the tradition of BRICS NSAs meeting.
About the BRICS NSAs meeting, Mr Lu told media that "the meeting on security issues is a major platform for BRICS countries to discuss and conduct cooperation in politics and security fields".
"It bears great significance for these countries to strengthen strategic communication, enhance political mutual trust and elevate their impact on global affairs," Mr Lu said.
He said that discussions will be held on topics, including global governance, anti-terrorism, internet security and energy security, as well as major international and regional hotspot issues.