Donald Trump Jr. has reached a deal to sit down with the Senate Intelligence Committee, a week after the Republican-led panel issued a controversial subpoena, two people familiar with the matter told CNBC.

The meeting with committee members will likely last between two and four hours, while limited to a handful of topics, the people said. Prior to the agreed principles of the meeting, the people say that Trump Jr.'s legal team was preparing a letter indicating Trump Jr. would not participate in the Intel committee's line of questioning.

An Intel committee spokesperson declined to comment Tuesday, saying, "We don't discuss witness engagement."

The eldest son of President Donald Trump was expected to be asked about his contact with Russians during the 2016 presidential election. Trump Jr.'s testimony back in September 2017 was called into question after comments made by the president's former personal attorney Michael Cohen.

Cohen, who worked for the Trump Organization for more than a decade, testified earlier this year that he had briefed Trump Jr. on several occasions about plans to build a Trump Tower in Moscow. Cohen also admitted he has previously lied to Congress about details of the ultimately aborted tower plan.

Last week, the president told reporters he was "very surprised" by the Trump Jr. subpoena and added that his son had previously testified to the Intel panel.

"My son is a very good person, who works very hard," the president told reporters last Thursday. "The last thing he needs is Washington, D.C."

North Carolina GOP Sen. Richard Burr took heat from Republican colleagues for issuing the subpoena to Trump Jr. Burr has said he hopes to finish the panel's probe by year-end.

Trump Jr.'s deal to testify before the Senate panel was first reported late Tuesday by The Hill.