The meetings in Havana follow the historic decision by US President Barack Obama and Cuban leader Raul Castro in December to seek normal diplomatic relations.
US deputy assistant secretary of state Alex Lee and Cuban foreign ministry official Josefina Vidal sat down for the first day of closed-door talks in the capital's Convention Center, which will focus on migration issues.
Their opening remarks were not broadcast.
The reopening of mutual embassies, closed since relations broke in 1961, will be at the center of tomorrow's talks, which will be led on the US side by Roberta Jacobson, the US assistant secretary of state for Western Hemisphere affairs.
On the eve of the talks, US President Barack Obama urged the Congress to end the decades-long embargo against Cuba, which the Castro regime has blamed for the country's economic woes.
"In Cuba, we are ending a policy that was long past its expiration date," Obama said in his annual State of the Union speech late yesterday.
"When what you have done doesn't work for fifty years. It's time to try something new," he said.
An unnamed senior Cuban foreign ministry official told local media: "We hope to establish civilized relations between countries that have different political concepts, but which can get along while respecting these differences."
The Cuban foreign ministry official said Havana will express its concerns about a US policy that gives Cubans quick access to permanent residency when they set foot on US soil.
But a senior US official said this week that there were "no plans to change US policy," which must be modified by Congress.
For tomorrow's embassy talks, the US side wants Cuba to reaccredit its diplomats, lift travel restrictions for them within the island, ease shipments to the US mission and lift a cap on personnel.
While US and Cuban officials prepared to meet, a Russian spy ship docked in Havana in a less than stealthy visit that had not been previously announced.
Ordinary Cubans hope the rapprochement will improve their lives in a country where supermarket shelves often lack basic goods and people make USD 20 per month on average.
