Foreign ministers of South Korea and the Democratic People's Republic of Korea (DPRK) held a series of brief, unofficial contacts on the sideline of ASEAN Regional Forum in Bali, Indonesia, Seoul's Yonhap News Agency reported Saturday.

The informal bilateral meetings, gathering South Korean Foreign Minister Kim Sung-hwan and his DPRK counterpart Pak Ui-chun, were the first between the two nations' foreign ministers in three years since the 2008 ASEAN Regional Forum held in Singapore.

During the meetings, the two sides "built significant common understanding on joint efforts for denuclearization dialogues", Kim told reporters in Bali.

They also shared views that the denuclearization talks should be led by South Korea and the DPRK, Kim said, but declined to unveil more details of the discussions with Pak, according to Yonhap.

The contacts came a day after South Korea's chief nuclear envoy Wi Sung-lac and his newly appointed DPRK counterpart Ri Yong-ho held a bilateral meeting in Bali, during which the two agreed to work to resume the long-stalled six-party talks.

Friday's meeting, which lasted for more than one hour, was " friendly and constructive," according to Wi.

He said the two sides made clear their own stances and both of them would make efforts to hold consultations for denuclearization and pave ways for the resumption of the stalled six-party talks.

The six-party talks on nuclear issues, involving the DPRK, South Korea, China, the United States, Japan and Russia, have been stalled since late 2008.