Nuclear envoys from North and South Korea held talks Friday on the sidelines of the ASEAN security forum in Bali, in the first such meeting between the two sides since six-party nuclear talks collapsed in December 2008.

The South's Yonhap news agency quoted North Korea's nuclear envoy Ri Yong Ho as saying the parties agreed to work together to resume the stalled disarmament talks.

Seoul's chief nuclear negotiator Wi Sung-lac said the meeting had been “very constructive” and useful.

North Korea's two nuclear tests in the past five years triggered international sanctions against Pyongyang.

South Korea, the U.S., Russia, China and Japan have been pushing for a resumption of the six-party talks. All six parties are attending the ASEAN conference.