Diplomatic relations between the two countries have been initiated on October 31, 2002 through the Permanent Mission of the State of Qatar in New York, later on the bilateral relations between the State of Qatar and the Kingdom of Swaziland developed to non-resident diplomatic representation that was established in March 2009, and in September 2010 the Kingdom of Swaziland opened an Embassy in Doha and appointed Ambassador Mr Felizwe Percival Dlamini  as the accredited  resident ambassador in Doha, where he presented his credentials to His Highness the Amir Sheikh Hamad Bin Khalifa Al Thani, and became the Ambassador Extraordinary and Plenipotentiary of the Kingdom of Swaziland to the State of Qatar. After that, bilateral relations developed and the Embassy of the State of Qatar in Mbabane was officially opened on 23/10/2012.