The State Department formally announced the trip after some Israeli media outlets reported it.
The coronavirus pandemic has forced militaries and militias to adapt to an invisible enemy, even as conflicts grind on.
U.S. European Command broke off a military exercise with Israel as a precaution against the spread of coronavirus.
An aggressive Iran has resulted in broader common ground between Israel and many of the Sunni Arab governments in the region.
The plan ended speculation as to whether his administration would abandon a "two-state resolution" to the conflict.
Despite carrying out deadly attacks throughout the world over the past years, ISIS has rarely targeted Israel.
Israel destroyed a series of what it said were attack tunnels, dug under the border by the Lebanese militant group Hezbollah.
The lifting of the travel ban partially reverses an order issued last month, restricting travel to all of Israel's West Bank.
Chairman of the Joint Chiefs of Staff Gen. Mark Milley met Sunday with Israeli counterpart Lt. Gen. Aviv Kohavi.
Travel to the West Bank, including Jericho, Bethlehem and Jerusalem's Old City, is restricted "until further notice."