Midlothian Council believes it is the first local authority in Scotland to hold such an event.
It will run the session at Mayfield Library in Dalkeith on February 2, which is Love Your Library Day.
Other activities in the council's libraries include "booky table tennis" in which players use books instead of bats.
Bob Constable, Midlothian Council's Cabinet member for public services and leisure, said: "Love Your Library Day is a marvellous opportunity for us all to celebrate the hugely important role libraries play in the heart of our local community.
"The pole fitness session is a fun and interesting way of encouraging more people into our libraries, trying out all the services on offer and ultimately borrowing more books.
"But it's not just pole fitness on offer. I'm delighted to see such a wide range of free and exciting events organised to mark this special occasion."
The pole dancing class, for over-16s only, will take place between 1.30pm and 3pm.
Other libraries in the Midlothian area are offering Scottish country dancing, head massages and an Xbox challenge for both children and their parents.
Local singers and musicians are also performing, while there will be sessions for would-be authors on how to write a novel.