The meeting took place at the Tilak Lane residence of Raj Kumar Verka, vice chairperson of the National Commission for Scheduled Castes, in central Delhi.
After the meeting with Sarabjit's wife, sister and two daughters, which lasted about 45 minutes, Gandhi was seen leaving with the family in a car with a red beacon.
Punjab Resident Commissioner Siva Prasad said the family was likely to leave for Amritsar in a BSF aircraft around 1.30 pm.
Sarabjit Singh was admitted to a Lahore hospital and was in coma for a week after being savagely attacked in jail April 26.
He died at 1 am Thursday.