SEOUL—China has invited North Korean leader Kim Jong Un to attend events in Beijing in September to commemorate the 70th anniversary of the end of World War II, according to a person familiar with the matter.

It wasn’t clear whether Mr. Kim would hold talks with Chinese President Xi Jinping if he travels to Beijing, but a visit by the North Korean leader would suggest that relations between the countries are stable. Mr. Kim has yet to meet another national leader or travel abroad since taking power at the end of 2011.

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