About $6 million of the aid will be shipped to the North through UNICEF, the U.N. children's agency, and the rest will be provided by five private humanitarian aid groups from South Korea, The New York Times reported.
Most of the aid will consist of food, vaccines, medicine and nutritional supplements.
There was no immediate response from Pyongyang.
South Korea also said Sunday it will extend an offer to North Korea for further talks on normalization of a suspended inter-Korean industrial complex in the North's border town of Kaesong, Yonhap News Agency reported.
The industrial complex has been shut down since April, when North Korea withdrew all of its workers from South Korean companies there amid heightened tension between the two countries.
"The government will make a final proposal for talks with North Korea to discuss [the Kaesong complex issue]," Unification Minister Ryoo Kihl-jae said in a statement.
"The government has a firm will to make future-oriented inter-Korean relations based upon principles and with respects for each other," Ryoo said, urging the North to make "the right decision for the normalization of the Kaesong Industrial Complex and inter-Korean relations."
Ryoo said the aid shipments were not linked to political issues between North and South Korea.