Japan has hailed the release of the two American journalists held by North Korea.

In a news conference, Japan’s Chief Cabinet Secretary Takeo Kawamura welcomed former U.S. President Bill Clinton's departure from the North with the two journalists.

Kawamura added that Washington notified Tokyo of Clinton's "private humanitarian mission."

Meanwhile, the chief cabinet secretary hoped that Japan and North Korea will normalize their ties and resolve bilateral concerns, including the Japanese abductees issue.