The party's caucus decided on Thursday the DP should use the opportunity to recommend steps to avoid a recurrence of the human rights abuses of the apartheid years.
Earlier the DP had said it would not make a submission - a stand which Selfe said had been based on a misunderstanding of what the commission wanted.
The presentation, probably on Tuesday next week, was planned to be made by DP leader Tony Leon, MP Colin Eglin and former MP Helen Suzman.
The submission would deal with the DP's fight for human rights, but it would not be oriented at showing that "we were the good guys and the other guys were the bad guys".
"We will rather draw on our perspective of the period to say the following will have to happen if we are to create a society where we never need another Truth Commission."
The commission will sit in Cape Town most of next week to hear party submissions.
The Freedom Front and African Christian Democratic Party will appear on Monday, the Pan African Congress on Tuesday, the National Party on Wednesday and the African National Congress on Thursday.