The Friday appearance will be Biden's first stop on NBC's "The Tonight Show" since he took office in January 2009. He was a guest in 2007, and stopped in after he accepted the Democratic vice presidential nomination in 2008.
President Barack Obama, first lady Michelle Obama and White House senior adviser David Axelrod also have made appearances on the late-night show.
Biden's visit could signal that he doesn't hold grudges.
During the 2008 presidential campaign, Leno joked that Republican vice presidential nominee Sarah Palin was going off script and making embarrassing statements so often that "her Secret Service code name is now Joe Biden."
