The talks between working-level officials on Saturday at a border village were part of preparatory discussions to set up the April 27 summit between North Korean leader Kim Jong Un and South Korean President Moon Jae-in.
A summit between Kim and President Donald Trump is anticipated in May.
North Korea's diplomatic outreach has brought a temporary lull to tensions surrounding its nuclear program that saw Kim and Trump exchange threats of war last year.
Seoul says the inter-Korean summit will be focused on denuclearization. The North has yet to officially confirm its willingness to talk about giving up its nukes.
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