The working-level discussions -- weighed down, as always, by decades of mutual distrust -- were held in the border truce village of Panmunjom where the armistice ending the 1950-53 Koran War was signed.
"The overall atmosphere was... Calm and the discussion proceeded with no major debate," the South's Unification Ministry spokesman Kim Hyung-Seok said after the morning session between the two, three-person delegations.
In the afternoon, the two heads of delegation held further rounds of discussions.
The agenda there will focus on restoring suspended commercial links, including the Kaesong joint industrial complex that the North effectively shut down in April as tensions between the historic rivals peaked.
"Today's talks were purely preparatory, so there was little room for dispute," said Yang Moo-Jin, a professor at the University of North Korean Studies in Seoul.
"We'll get a better sense of where things really stand on Wednesday," Yang told AFP.
South Korea responded swiftly with its offer of a ministerial meeting in Seoul, the North countered with a request for lower-level talks first and -- after some relatively benign to-and-fro about the best venue -- today's meet in Panmunjom was agreed.
In a further signal of intent, North Korea on Friday restored its official hotline with the South, which it had severed in March.
The move towards dialogue has been broadly welcomed -- given the threats of nuclear war that were being flung around in April and May -- but there is sizeable scepticism about Pyongyang's intentions.
"Pyongyang is 'sincerely' and 'magnanimously' inviting the South to fix, and pay for, problems of the North's own creation," Haggard said.
It was the North's decision to withdraw its 53,000 workers in early April that closed Kaesong.
The North also wants to discuss resuming tours by South Koreans to its Mount Kumgang resort. These were suspended after a North Korean soldier shot dead a South Korean tourist there in July 2008.
Kaesong and Mount Kumgang were both significant sources of scarce foreign currency for North Korea, which is squeezed by UN sanctions imposed over its nuclear weapons programme.
