Commiphora otjihipana Swanepoel, here described as a new species, is only known from the Otjihipa Mountains, Kaokoveld Centre of Endemism, northwestern Namibia. It appears to be most closely related to C. africana (A. Rich.) Engl. Diagnostic morphological characters of C. otjihipana include the often spineless branches, smooth, non-peeling, pale grey, reddish brown or reddish grey bark, usually glabrous leaves and branches, and unisexual or bisexual flowers. Illustrations of the plant and a distribution map are provided. Keywords: Burseraceae, Commiphora, Endemism, Kaokoveld, Morphology, New species.