The Tibetan spiritual leader's trip is expected to fuel tensions between India and China over strategic issues such as China's growing ties with India's arch-rival Pakistan. China claims the region in the eastern Himalayas as "South Tibet".
The Dalai Lama said at the airport in the Assam city of Guwahati that his visit was to promote religious harmony.
India to host Dalai Lama in disputed territory, defying China
He said he was happy to be back in a region that revived his memories of escape from Tibet in 1959, after a failed uprising against Chinese rule.
"I still feel the feeling of that time," he said.
China, which considers the Dalai Lama a dangerous separatist, said on Friday it was "resolutely opposed" to the visit, and urged India to "avoid taking any actions that would further complicate the border issue".
An Indian government official said on Friday that the Dalai Lama's visit was religious, not political.
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