It depends. A rigorous treatment of Lie groups and Lie algebras (as in the style of, say, the excellent book Lie Groups: Beyond an Introduction by Knapp) does require a solid background in differential geometry and manifold theory. If the class is taught in this way, you may need to wait a year or two until after you have developed some expertise in these topics.
However, it is possible (and commonplace, these days) to provide an introduction to the subject 'via matrix groups' (as in the style of, say, Matrix groups for undergraduates by Tapp or Lie groups, Lie algebras and Representations by Brian C. Hall), where the topic is approached by beginning with the matrix groups we all know and love ($\operatorname{GL}_n, \operatorname{O}_n, \operatorname{SO}_n, \operatorname{U}_n, \operatorname{SU}_n$, etc.) and covering a lot of the theory using only these elementary groups. If the class is taught this way, you should be fine with the background you have.
At the end of the day, the best course of action is probably just to email the lecturer, and ask what approach they are taking, and what prerequisites they expect of their students.