The agreement came during a surprise visit to South Korea by North Korean officials for the closing ceremony of the Asian Games.
The visit was led by two top-ranking North Korean officials seen as close aides to leader Kim Jong-un.
Both sides were said to have agreed to meet again within the next few weeks.
Hwang Pyong-so, seen as the second-most powerful man in North Korea, held talks with Ryoo Kihl-jae, the South's reunification minister, on Saturday after flying to Incheon to attend the sporting event.
Mr Hwang is the top political officer at the Korean People's Army. The other two members of the North's delegation were Choe Ryong-hae and Kim Yang-gon - key members of the ruling Workers' Party.
It is not known what was discussed at the meeting and neither party has commented publicly on the talks.