The measures detailed in a joint statement included what amounted to an extremely rare public apology from North Korea, which "expressed regret" over mine blasts this month that maimed two South Korean soldiers on border patrol.
In response, the South agreed to halt loudspeaker propaganda broadcasts into North Korea which it had resumed -- after a break of more than a decade -- in retaliation for the mine blasts.
The loudspeakers will be switched off midday tomorrow, at which time the North will lift a "semi-war state" declared last week by leader Kim Jong-Un.
The two also agreed to work towards a resumption next month of reunions for families separated by the 1950-53 Korean War, and to hold official talks in either Seoul or Pyongyang at a date to be decided.
The agreement, which appeared to cover all the major areas of contention, came after days and nights of gruelling negotiations which began early Saturday evening in the border truce village of Panmunjom.
The talks had played out against a dangerous military stand-off, which triggered a rare artillery exchange over the border last week, with both sides ramping up the military rhetoric and flexing their weaponry.
Tensions continued to rise as the discussions were taking place, with South Korean and US jets flying simulated bombing runs, and North Korea reportedly deploying two thirds of its 70-vessel submarine fleet.
"I hope that from now on, (both sides) sincerely implement the agreement and build trust through dialogue and cooperation in order to build new inter-Korean ties that meet the people's expectations," South Korea's lead negotiator, National Security Adviser Kim Kwan-Jin, told reporters.
Kim said the agreed measures would not only settle the current crisis, but also provide a "new momentum" for inter-Korean relations in the future.
The Panmunjom talks between Kim and his North Korean counterpart Hwang Pyong-So -- a close confidant of leader Kim Jong-Un -- were the highest-level inter-Korean talks for nearly a year.
There was some surprise at the unequivocal nature of the North Korean expression of regret over the mine blasts -- which many had predicted would be the main stumbling block to any agreement.
North Korea had repeatedly denied any responsibility for the blasts, and apologies for anything -- especially where South Korea is concerned -- are not in its usual diplomatic vocabulary.
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