“This whole event is of great significance to us," Duda told reporters at a joint press conference with Macron in Warsaw.
"Above all, I deeply believe that it constitutes a breakthrough in Polish-French relations," he added.
Earlier, Polish Foreign Minister Jacek Czaputowicz and his French counterpart Jean-Yves Le Drian signed plans for strategic cooperation between their two countries.
Duda said the declaration detailed joint efforts in a range of areas, including on military, political and economic issues.
Meanwhile, Poland’s Digital Affairs Minister Marek Zagórski and France's Le Drian signed a pledge to step up cooperation between their governments on cyber security.
Macron was later on Monday due to hold talks with Polish Prime Minister Mateusz Morawiecki.
The previous visit by a French president to Poland took place in 2013. François Hollande planned to make another visit in 2016 but called it off after the Polish government abandoned plans to purchase French-designed Caracal helicopters for the army.
In 2017, during the peak of the migration crisis, Macron, who that year replaced Hollande as president, criticised Poland for its stance on migration.
Most recently Macron has voiced criticism of Poland’s stance on counteracting climate change.