WASHINGTON—Israeli Prime Minister Benjamin Netanyahu told President Barack Obama his government was prepared to take "concrete steps" to bring about direct Middle East peace talks, as the two leaders sought to heal ties that have frayed during the past year over the issue of Palestinian statehood and Israel's blockade of Gaza.

Mr. Netanyahu, during a highly anticipated public appearance with Mr. Obama at the White House Tuesday, didn't specify what Israel was willing to do to kick-start negotiations with the Palestinians.

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