Martelly arrived at 15:00 local time (20:00 GMT) at Jose Marti international airport, where he was welcomed by Deputy Foreign Minister Rogelio Sierra.
The agenda of the Haitian president includes meetings with President Raul Castro and a tribute to National Hero Jose Marti at the Revolution Square.
According to the program for his visit, agreements will be signed during Martellyâ�Ös stay.
Since 1998, Havana has collaborated with Haiti, a nation hit by great tragedies like the quake of 2010 and a cholera outbreak late that year.
At least 700 Cuban health professionals remain in Haiti to give continuity to a work that includes treating millions of cases and over 300,000 surgical operations.
The two countries also cooperate in education, with more than 400 Haitian youngsters studying in Cuba and some 1,100 already graduated.