South Korean lawmakers say South and North Korea have agreed in principle to push for parliamentary and party-level exchanges and cooperation.

On their return from North Korea Friday, the lawmakers said the agreement was made through unofficial contacts between a group of South Korean ruling and opposition lawmakers and a delegation from the North's Supreme People's Assembly during a joint event in Pyongyang.

On Tuesday, a South Korean civic delegation consisting of representatives from South Korea's four parties visited Pyongyang for the event marking the fifth anniversary of the landmark inter-Korean summit in 2000.

A lawmaker said they will be able to make more progress on the issue if a delegation from North Korea’s Assembly participates in events celebrating the Aug. 15 Liberation Day in Seoul.

The meeting between South and North Korean legislators in the North's capital was the second of its kind, following one during the general assembly of the Inter-Parliamentary Union held in Manila in April.