Thousands are expected to gather at Vodafone Event Centre in Manukau early on Sunday morning for a mass yoga exercise.
"The event is a community one, absolutely nothing religious, celebrating an ancient and holistic approach to health and well-being," Mr Khar said.
New Zealand is one of about 176 countries taking part in the celebrations, the biggest of which will be held in India.
In New Delhi, about 45,000 people will perform 15 yoga exercises for 35 minutes on the city's main Rajpath road in an attempt to set a World Record.
Here, yoga instructors will lead in exercises and the first 1000 will also be treated with an Indian-style breakfast packet and a yoga T-shirt.
"I urge those who come to do so with an open mind, and enjoy one of India's greatest contributions to the world," Mr Khar said.
"There is no place for bigotry or any thoughts of extremism at the event."
AUT University Professor of Diversity Edwina Pio said the surya namaskar was a "timeless yoga practice" meant to honour and give thanks to the sun for giving life to our planet.
She said the controversy in India was because many of the minority religions there were nervous with the current government's insistence on Hindutva and India for the Hindus.
"Therefore the Muslim response is a push back more to seeing non-Hindu religions as foreign and therefore yoga too as being Hindu and not meant for minorities," Professor Pio said.
However, she said the Auckland event should be seen as family day to experience "this ancient versatile practice" which "resonates with nature and our ecological selves".
International Yoga Day Celebrations
Where: Vodafone Event Centre, Manukau
When: Sunday, June 21, 2105. 8 to 10am.
What: Mass yoga exercises, breathing and relaxation, Indian-style breakfast