South Korean President Moon Jae-in hosted talks with the delegation, aimed at improving relations between the two countries and resolve differences over the North's nuclear and missile programmes.
The meeting between the two Koreas came at the same time that Vice President Mike Pence was in Seoul, where he had repeatedly called the Kim regime "the most tyrannical" on earth.
Two people dressed us as the American and North Korean leaders in a stunt that cause something of a commotion when they appeared in the stands at the Olympic Games Opening Ceremony on Friday.
The significance of Pence and the North Koreans sitting in the same box was not immediately clear, though it seemed to run counter to the mission he was supposed to undertake.
Pence to visit memorial for torpedoed warship, underscoring danger of North Korea
Saturday's meeting was the first time a South Korean president hosted North Korean officials at the Blue House since 2007. Moon has invited Kim and other senior North Korean officials to a luncheon at Seoul's presidential palace on Saturday.
Another famous female South Korean golfer also had a part in the Opening Ceremony.
"VP stands and cheers for USA athletes, VP hangs out with US athletes instead of dining with Kim regime, VP does not applaud N. Korea or exchange pleasantries w/ the most oppressive regime on earth", Agen tweeted, with check marks next to each item. South Korea wants a northern neighbor without nukes; North Korea vows to keep its weapons until the United States discards its "hostile" policies against the country.
Some North Korean experts believe tough United Nations sanctions that are cutting off most of the isolated North's sources of revenue have added pressure on Pyongyang to engage further with Seoul.
"An early resumption of dialogue between the United States and the North is needed also for the development of the South-North Korean relationship", Moon said through a spokesperson.
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But cyberattacks and other forms of assault were a big point of fearful contention prior to the games in South Korea as tensions with long-time, adjacent adversary North Korea and much of the diplomatic world have become even more strained.
The North and South are bitter enemies and are technically at war together, having never officially ended the 1952 Korean War. Moon also stressed the need for the USA to come to the table.
He said war had forged "the core of the bond" between the US and South Korea and that helps explains "why there is no daylight and there will be no daylight" between the two. "The world cannot turn a blind eye to the oppression & threats of the Kim regime", he tweeted earlier Saturday.
North Korea has a track record of dangling peace to wrangle concessions and aid from the West only to renege on its promises. This was not supposed to be, as some in Seoul grumble, the "Pyongyang Games", a play on the North Korean capital's phonetic similarity to Pyeongchang.
Kim invites Moon to Pyongyang: Seoul
On Thursday, North Korea said its official delegation to the PyeongChang Olympics had no intention of meetings its US counterpart. Ms Kim invited Mr Moon to visit "at the earliest date possible", a spokesman for South Korea's presidential palace said .
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