Gandhi, who arrived in Tirupati on a day-long visit, began his journey from Alipiri at the foot of Tirumala Hills. He will cover an 11-km distance walking before he reaches the temple atop Tirumala Hills to offer prayers.
Devotees usually take this path to reach the temple of Lord Venkateswara, also known as Lord Balaji.
After prayers, the Congress President will return to Tirupati to participate in the Andhra Pradesh Congress chief N. Raghuveera Reddy's Pratyeka Hoda Bharosa Praja Yatra.
Reddy is leading the bus yatra to assure people that if voted to power at the Centre, the Congress will accord special category status to Andhra Pradesh.
Gandhi will also address a rally to further stress on the contentious issue.
Earlier, on his arrival at Tirupati's Renigunta Airport, Rahul Gandhi was received by former Kerala Chief Minister Oommen Chandy, who is in charge of party affairs in Andhra Pradesh. Several other leaders of the party also welcomed him.