Army chief General Raheel Sharif and US commander in Afghanistan General John Nicholson discussed Pakistan, Afghanistan border mechanism on Saturday.
"During the meeting, regional security issues and matters of mutual interest, including border management mechanism along Pakistan, Afghanistan border were discussed," Inter Services Public Relations said in a statement.
Pakistan, Afghanistan agree on ceasefire at Torkham border
The meeting comes after the main crossing along Afghanistan's disputed border with Pakistan reopened on Saturday after nearly a week of deadly clashes between the two countries' security forces.
The fighting, which has killed at least four people, erupted at Torkham gate after the two sides disagreed over a Pakistani plan to build a new barrier at crossing.
Afghanistan rejects the colonial-era Durand Line border drawn up in 1893 and police along the border vowed to prevent the Pakistani project from going forward.
Officials on both sides said the crossing had reopened after Kabul and Islamabad reached an agreement. "To reopen the pass there were central and regional level negotiations," Attaullah Khogyani, a spokesman for Afghanistan's Nangarhar provincial governor, said on Saturday.
Torkham border reopens after five days of clashes
Military reinforcements that had been sent to the area had been ordered to leave and cross-border traffic had returned to normal after having been stalled for a week, according to a Reuters witness in Afghanistan.
Thousands of vehicles normally pass through the crossing every week, making it a vital trade link between the countries. As part of the agreement, officials said all Afghans would need official documents to pass into Pakistan.
Afghan ambassador denies agreement on gate construction at Torkham border
Both sides accuse each other of harboring extremist groups that have launched attacks. Afghanistan, struggling to contain a stubborn insurgency led by Taliban militants, blames Pakistan for harboring fighters and allied networks on its territory.
Pakistan denies it supports militants, and says it is building the gate at Torkham to stop the movement of militants coming the other way, from Afghanistan.