WASHINGTON—President Donald Trump sent a letter to African leaders informing them that Secretary of State Rex Tillerson will make his first visit to the continent as America’s top diplomat in March, U.S. officials said.

His visit comes after Mr. Trump angered leaders there by complaining about African immigration from “shithole countries” in a White House meeting, according to Sens. Dick Durbin (D., Ill.) and Lindsey Graham (R., S.C.). The president has said he used different language.

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