North and South Korea talked about reopening the joint liaison office and holding a summit in an effort to restore relations.
The discussions signal an improvement in ties that have deteriorated in the past year after three leaders' summits in 2018 promised peace and reconciliation.
South Korean President Moon Jae-in staked his legacy on improving relations with North Korea and helped set up historic meetings between Mr. Kim and then US President Donald Trump in 2018 and 2019.