I love novels that are full of interesting characters.  I do not read crime novels, but many good stories have some sort of crime to solve as the premise of action. 

I am specifically looking for a book set in Africa for a reading challenge. 

Any recommendations?

A Girl Named Disaster by Nancy Farmer is an excellent book - it's geared to a younger ("young adult") audience but is an excellent read.

Things Fall Apart by Chinua Achebe is a classic, and often assigned in advanced high school courses or in college.

The Poisonwood Bible by Barbara Kingsolver is one of the best books I've ever read, hands down, and it's set in Africa for the most part.

The No. 1 Ladies' Detective Agency by Alexander McCall Smith.

This is also part of a series, period mystery piece.

Treasure of the Golden Cheetah: A Jade del Cameron Mystery by Suzanne Arruda

and of course there is Out of Africa by Isak DInesen/Karen Blixen

I heartily second The Poisonwood Bible by Barbara Kingsolver.  It's in my all-time top ten favorites.

It's old (set in 1913) and written for YA but The Flame Trees of Thika is very enjoyable.  Here's the blurp from Amazon

Elspeth Huxley's stirring account of her childhood in Kenya and her novel of the destructive forces of colonization.
In an open cart Elspeth Huxley set off with her parents to travel to Thika in Kenya. As pioneering settlers, they built a house of grass, ate off a damask cloth spread over packing cases, and discovered--the hard way--the world of the African. With an extraordinary gift for detail and a keen sense of humor, Huxley recalls her childhood on the small farm at a time when Europeans waged their fortunes on a land that was as harsh as it was beautiful. For a young girl, it was a time of adventure and freedom, and Huxley paints an unforgettable portrait of growing up among the Masai and Kikuyu people, discovering both the beauty and the terrors of the jungle, and enduring the rugged realities of the pioneer life.

Margaret

Margaret, your suggestion reminded me of a book (and movie) that I absolutely loved.... Old, but don't know I didn't think about it!  Born Free by Joy Adamson.  I defy anyone to get through that book without a good cry.  What a wonderful read!

Wilbur Smith has several books that take place in Africa. I read When The Lion Feeds a long time ago and it was pretty good. Stephen King calls him the best "historical writer".

Also, Cry, the Beloved Country. by Alan Paton, and some of the books by Nadine Gordimer, such as Burger's Daughter and  July's People; or Buchi Emecheta, such as Double Yoke or The Joys of Motherhood; or N'gugi wa Thiongo, such as The River Between.    Also, The Stone Virgins, by Yvonne Vera.

I agree with The Poisonwood Bible, one of my all time favorites.

The Power of One by Bryce Courtenay is a very good book, an epic novel with a terrific ending.

I would strongly recommend "Cutting for the Stone"  by Abraham Verghese.  Most of it is set in Ethiopia.  A very interesting story, with a lot of very valid medical elements.  I enjoyed it a lot.

My vote is for the following 2 that have already been recommended:

The Poisonwood Bible by Barbara Kinsolver

and

The series by Alexander McCall Smith Beginning with The No. 1 Ladies' Detective Agency

I wanted to echo the recommendation for

The Power of One
Author: Bryce Courtenay

Fabulous book! Read it 20 years ago and I still find myself thinking about it.

A Carrion Death by Michael Stanley (set in Botswana)

Cutting for Stone is absolutely one of my all time favorite books.

Say You're One of Them, by Uwem Akpan

Half of a Yellow Sun, by Chimamanda Ngozi Adichie

Don't Let's Go to the Dogs Tongiht, by Alexandra Fuller

Somebody's Heart is Burning, by Tanya Shaffer

Oh, and I forgot the classic, The Grass is Singing, by Doris Lessing

Most of the books mentioned here I've either read or have on my list.

The Poisonwood Bible, On my top 3 best ever reads. Love it, re-read it often, have 4 copies so I can freely lend it!

King Leopold's Ghost, OMG this non-fiction ends where Poisonwood starts. The aweful history of the Congo.

What is the What, A Sudanese man is living in the US after spending 10 (20?) yrs in a refuge camp.

A Girl Named DIsaster, I didn't read it, but my teenage daughter loves it.

The Camel Bookmobile, An Irish woman brings books to Africa & is left unsure about it's affect.

The River God by WIlbur Smith is excellent.

Some great ones already mentioned.  I'll add:  _A Story Like the Wind_ and _A Far Off Place_  by Laurens Van Der Post.  

Haven't read it yet but I thnk Little Bee by Chris Cleave starts out in Africa.

Lioness......wasn't this also published with a different author's name?