"Lima Group… decides to make the necessary arrangements for Cuba to participate in the search for a solution to the crisis in Venezuela," the declaration says.
The group also reiterated its call on Russia, Turkey and other countries that support Venezuelan President Nicolas Maduro to "promote a return to democracy in the country."
The Lima Group also invited the International Contact Group on Venezuela to convene a meeting with all parties to find a solution.
Venezuela has been rocked by unrest since January, when opposition leader Juan Guaido proclaimed himself an interim president and was recognized by the United States and 54 other nations.
Maduro, recognized by China and Russia among numerous other countries, has accused the United States of seeking to overthrow his government and install Guaido in a bid to get hold of Venezuela’s resources.