The meeting was the first one at foreign policy chief level since the countries suspended talks last year over the disputed Kashmir region.
"We agreed that ensuring peace and tranquility on the border was vital," India's top diplomat told reporters.
During the meeting, India raised the issue of cross-border terrorism, including a series of terrorist attacks in Indian city of Mumbai in 2008. Twelve coordinated attacks claimed the lives of 174 people, including ten attackers, and injured over 300. The attacks were organized by the Lashkar-e-Taiba Islamist group, based in the part of Kashmir administered by Pakistan.
Indian-Pakistani relations have been complicated since the end of British rule in 1947. The British India division created an ongoing territorial dispute over the northern Indian state of Jammu and Kashmir between the two countries.
India and Pakistan have clashed in four wars and a number of military conflicts. In 2003, the two nations agreed to a ceasefire following another border conflict. However, both countries have repeatedly accused each other of violating the truce.