Commiphora steynii Swanepoel and C. gariepensis Swanepoel, here described as new species, are known only from the Kaokoveld and Gariep Centres of Endemism respectively. Illustrations of the plants and distribution maps are provided. Diagnostic characters o f C. steynii include the pale ashy grey, non-peeling bark and the lack of wart-like projections around the large lenticels. Diagnostic characters o f C. gariepensis include the stamen number which varies between four and eight, and the milky-watery latex which does not squirt when branches are damaged. When without leaves or fruit, C. gariepensis can easily be confused with several other species. Comprehensive tables with diagnostic morphological features to distinguish between the new species and closely related taxa are presented. Keywords: Burseraceae, Commiphora Jacq., endemism, Gariep Centre, Kaokoveld, morphology, Namibia, new species, South Africa, taxonomy.