Angolan lawmakers present at Friday's vote gave their unanimous approval of a one-year deployment of troops in Congo's eastern provinces.
The minister of state Francisco Furtado said earlier this week that the deployment could cost Angola 11.2 billion kwanzas ($22.30 million), but that it expected to receive contributions from international organizations, including the African Union and the United Nations.
Congo's minister of foreign affairs, Christophe Lutundula, said on Monday that Angola was planning to send troops not to attack but to help maintain peace.
Kenya, Uganda and Burundi have also deployed troops to eastern DRC in the last year as part of an East African regional force aiming to help end militia violence.
Insecurity has spiraled in Congo's volatile east over the past year, partly due to the resurgence of the M23, a rebel group claiming to represent the interests of ethnic Tutsis, which has seized large parts of Congo's North Kivu province.
The conflict has sparked a diplomatic crisis between Congo and neighboring Rwanda, which Kinshasa accuses of backing the rebels, including by sending its own troops into eastern Congo. Rwanda denies any involvement.
Last year, Angolan President Joao Lourenco mediated talks between Congo's President Felix Tshisekedi and his Rwandan counterpart Paul Kagame who agreed to de-escalate tensions, but a declared ceasefire did not hold.
