Hollande "hopes he will be able to welcome" the Iranian president on 27-28 January, Larcher said in Tehran on Saturday.
Rohani was due to visit Paris on 16-17 November as part of a thaw in relations following July's multilateral agreement on Iran's nuclear capacity but both sides agreed to postpone it because of the Paris attacks, which Rohani described as "crimes against humanity".
By then "I hope that all the sanctions will have been lifted" and the visit "will be the point of departure for closer and more frequent contacts between our two countries", he added.
France is anxious to reestablish economic ties with Iran and Foreign Affairs Minister Laurent Fabius visited Iran two weeks after the nuclear deal was signed, with Agriculture Minister Stéphane Le Foll following in September accompanied by Foreign Trade Junior Minister Matthias Fehki and some 130 French entrepreneurs.
After the Paris attacks "France, more than any other country, can be active against terrorism with strength and will power", Larijani declared.
Former prime minister Jean-Pierre Raffarin, who chairs the Senate's foreign affairs and defence committee, accompanied Larcher, who was to leave Tehran on Monday evening.