A new class of high-order accuracy numerical methods based on a semi-Lagrangian formulation for the BGK model of the Boltzmann equation has been recently proposed in [1]. In this paper semi-Lagrangian schemes for the BGK equation have been extended to treat boundary conditions, in particular the diffusive ones. Two different techniques are proposed, using or avoiding iterative procedures. Numerical simulations illustrate the accuracy properties of these approaches and the agreement with the results available in literature.