North and South Korea have agreed to hold military talks, a joint statement said, after the two countries engaged in formal dialogue on Tuesday for the first time in more than two years.

North Korea has also announced it will send a high-ranking delegation along with athletes, journalists and a cheering squad to the Winter Olympics in South Korea next month.

But despite the diplomatic advance, the head of North Korea’s delegation in the talks on Tuesday warned the South over the mention of denuclearisation during discussions, the South Korean government said in a statement.

The two countries will reopen a military communications hotline that has remained unused since February 2016, with contact resuming on Wednesday.

The South also called for talks between the two countries’ Red Cross organisations to run parallel to the military discussions which are designed to reduce the potential for conflict between the nations.

The talks at the border came as North Korean leader Kim Jong-un pushes for improved relations with the South after more than a year of strained relations over Pyongyang’s increasing frequency of nuclear missile tests.

But the North agreed to the meeting after Seoul and Washington announced they would put planned military exercises on hold until after the Winter Paralympics end on 18 March.

The North has regularly cited the joint manoeuvers as a barrier to improving relations with the South, saying the war games are preparations for an invasion.

South Korea also suggested resuming temporary reunions of families separated by the 1950-53 war which divided Korea.

US President Donald Trump credited himself with bringing about the talks between the two countries, tweeting last week. He wrote on Twitter: “With all of the failed ‘experts’ weighing in, does anybody really believe that talks and dialogue would be going on between North and South Korea right now if I wasn’t firm, strong and willing to commit our total ‘might’ against the North. Fools, but talks are a good thing!”

North Korean state-controlled newspaper The Rodong Sinmun, said Mr Trump’s claim that sanctions and pressure on Pyongyang had brought about the dialogue between North and South Korea was “ridiculous sophism”, the Guardian reports.

Critics believe Mr Kim may be taking advantage of an opportunity to weaken the relationship between Seoul and Washington in a bid to reduce pressure and sanctions on the North.

But China and Russia have welcomed the talks. The Kremlin described the breakthrough as “exactly the kind of dialogue that we said was necessary”, while China’s foreign ministry said it was “pleased to see this high level talk between the two sides”.

The meeting has also raised the possibility of the two countries conducting a joint march for the opening and closing ceremonies of the Winter Olympics in the South Korean county of Pyeongchang, 110 miles southeast of Seoul.

In pictures: North Korea marks the Day of the Sun Show all 16 1 /16 In pictures: North Korea marks the Day of the Sun In pictures: North Korea marks the Day of the Sun North Korean women soldiers take part in a military parade in Pyongyang on 15 April AFP/Getty Images In pictures: North Korea marks the Day of the Sun A huge military parade in Pyongyang marks the 105th birth anniversary of Kim Il Sung, the country's late founder and grandfather of current ruler Kim Jong Un AP In pictures: North Korea marks the Day of the Sun North Korean leader Kim Jong-un waves during a military parade on 15 April 2017 AP In pictures: North Korea marks the Day of the Sun North Korean soldiers carry flags and a photo of Kim Il-sung during a military parade in Pyongyang on 15 April AP In pictures: North Korea marks the Day of the Sun Soldiers march across Kim Il Sung Square during a military parade on 15 April AP In pictures: North Korea marks the Day of the Sun What military experts say appears to be a North Korean KN-08 inter-continental ballistic missile is paraded across Kim Il Sung Square during a military parade on 15 April AP In pictures: North Korea marks the Day of the Sun Women wearing traditional Korean dress wave flowers and shout slogans as they pass Kim Jong-Un during a parade in Pyongyang on 15 April AFP/Getty Images In pictures: North Korea marks the Day of the Sun North Korean female soldiers march during a parade for the 'Day of the Sun' festival on Kim Il Sung Square in Pyongyang on 15 April EPA In pictures: North Korea marks the Day of the Sun Military vehicles carry missiles with characters reading 'Pukkuksong' during a military parade marking the 105th birth anniversary of Kim Il-sung in Pyongyang on 15 April 2017 EPA In pictures: North Korea marks the Day of the Sun Attendees carry sheets in the colours of North Korea's national flag during a military parade in Pyongyang on 15 April Reuters In pictures: North Korea marks the Day of the Sun A soldier salutes from atop an armoured vehicle during a military parade in Pyongyang on 15 April Reuters In pictures: North Korea marks the Day of the Sun A North Korean woman cries as she looks towards Kim Jong-un during a parade on 15 April AP In pictures: North Korea marks the Day of the Sun University students carry the national flag and two bronze statues of the late leaders Kim Il-sung and Kim Jong-il during a military parade on 15 April AP In pictures: North Korea marks the Day of the Sun Missiles are driven past Kim Jong-un and other high ranking officials during a military parade marking the Day of the Sun in Pyongyang on 15 April Reuters In pictures: North Korea marks the Day of the Sun North Korean leader Kim Jong-un waves from a balcony during a parade for the 'Day of the Sun' festival in Pyongyang on 15 April 2017 EPA In pictures: North Korea marks the Day of the Sun Missiles are driven past Kim Jong-un and other high ranking officials during a military parade marking the Day of the Sun in Pyongyang on 15 April Reuters