The two-day visit began with a wreath-laying ceremony at the Mausoleum of Mustafa Kemal Atatürk, the founder of modern Turkey, Polish state news agency PAP reported.
Later on Tuesday, Nawrocki is due to visit Aselsan, Turkey's largest defence electronics company.
Poland signed a contract with the firm in December for electronic warfare systems as part of the Polish military's San programme, designed to complement the country's developing multilayered air defence network.
The contract, worth about PLN 2 billion (EUR 465,000, USD 530,000 million), calls for deliveries through 2035.
According to Polish presidential aide Marcin Przydacz, the talks will focus on regional security, preparations for next month's NATO summit in Ankara, economic cooperation between Poland and Turkey, and the Polish-led Three Seas Initiative, which brings together countries between the Baltic, Black and Adriatic seas.
Turkey, a member of the G20 group of major economies, has become an increasingly important economic and security partner for Poland.
On Wednesday, Nawrocki will travel to Incirlik Air Base in southern Turkey to meet with members of the Polish military contingent stationed there.
The Polish contingent was deployed in May 2021 in response to a Turkish request for NATO support amid deteriorating security conditions in the region. Up to 95 Polish military personnel and civilian staff are currently assigned to the mission.
Their tasks include reconnaissance and patrol flights over the eastern Mediterranean and Black Sea regions, as well as gathering and sharing intelligence with NATO's maritime command.
The contingent's mandate was extended by Nawrocki in December and is currently scheduled to remain in operation until June 30.
Incirlik is one of NATO's most strategically important military facilities in the region. The base is also one of several locations outside the United States where American nuclear weapons are stored under NATO's nuclear-sharing arrangements, the PAP news agency reported.
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Sources: IAR, PAP