The ministry said applicants should access the website http://kmy.gov.in to file their application online.
The 2016 Yatra is planned between June 12 and September 9 through Lipulekh Pass in Uttarakhand and Nathu La Pass in Sikkim, it said in a statement.
It said the route via Lipulekh Pass would involve extensive trekking of about 200 km costing about Rs.160,000 per person and will be conducted in 18 batches of 60 pilgrims each.
The route through Nathu La pass, which is motorable, will cost about Rs.200,000 per person and will be conducted in seven batches of 50 pilgrims each.
"Age limit for applicants is between 18 and 70 years as on January 1, 2016," the ministry statement said.
"Applicants can opt for either of the routes. Senior citizens will have priority on the Nathu La route. First time applicants, senior citizens and medical doctors will be given priority."
It said applicants for this Yatra would be selected and assigned routes and batches "through a fair, computer-generated, gender-balanced selection process".
Applicants can get information, and track the status of their application through the helpline number 011-24300655.