According to a statement issued by the foreign office, the advisor to prime minsiter on national security and foreign affairs Sartaj Aziz delivered the message to Rouhani during his visit to Tehran on Monday.
The visit comes weeks before Nawaz is due to visit Iran to help smooth ties with the western neighbour.
According to the statement, the advisor conveyed a message of friendship, brotherhood, harmony and cooperation to Dr Rouhani on behalf of Prime Minister Nawaz Sharif, underscoring the desire to strengthen relations with Iran in all areas of bilateral cooperation and particularly in political, security and trade domains.
Pakistan and Iran need to work together for stability, peace and development of the region, and unity of Ummah, Aziz said.
During the meeting Aziz hoped that bilateral relations and cooperation would gain strength during the tenure of President Rouhani and the new government of Pakistan.
Rouhani said that he was looking forward to Nawaz's visit which would help pave the way for enhanced cooperation and further cementing the brotherly relationship between Iran and Pakistan.
Iran considers Pakistan an important neighbor and brotherly country and both the countries need to utilise substantial potential for the benefit of two countries and its peoples, said Rouhani.
Earlier, the Aziz met Iranian Foreign Minister Javad Zarif. Foreign Secretary Aizaz Ahmad Chaudhry, who is in Tehran for bilateral political consultations, was also present at the meeting.
They exchanged views covering the whole range of issues of bilateral interest.
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This is great news.. Long live Iran-Pakistan friendship
Good to see a step to improve Iran Pakistan ties.