South Korean and US troops have staged their biggest-ever joint live-fire drill, including a simulated mechanised assault deep into North Korean territory, just days after the two Koreas ended a tense military standoff.

The exercise took place in Pocheon, about 12 miles from the Demilitarized Zone that separates North and South Korea.

Around 3,000 soldiers, 100 tanks and armoured vehicles, 120 heavy guns, 45 helicopters and more than 40 jet fighters were involved in the display.

"In terms of ammunition and personnel mobilised, this is the biggest live-fire exercise South Korean troops have ever staged independently or jointly with US troops," a defence ministry spokesman told AFP.

The joint military exercises follow days of tensions between North and South Korea. On Tuesday the two Koreas pulled back from the brink with an accord that allows both sides to save face.

In a carefully crafted piece of diplomacy following more than 40 hours of talks, Pyongyang expressed "regret" that two South Korean soldiers were maimed in a recent land mine blast Seoul blamed on the North.

While not an acknowledgement of responsibility, let alone the "definite apology" South Korea's president had demanded, it allows Seoul to claim some measure of victory in holding the North to account.

South Korea, for its part, agreed to halt anti-Pyongyang propaganda broadcasts on the border, which will let the authoritarian North trumpet to its people a propaganda win over its bitter rival.

US State Department spokesman John Kirby called the accord a compromise. He said it now is up to North Korea "to act and not simply make assurances" about its military activities along the border between the two countries.

The Koreas also struck an important humanitarian agreement by promising to resume in September the emotional reunions of families separated by the Korean War.

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(AP Photo/Ahn Young-joon) AP South Korean army's Surion helicopter fires flare shells during the South Korea-U.S. joint military live-fire drills at Seungjin Fire Training Field in Pocheon, South Korea, near the border with North Korea, Friday, Aug. 28, 2015. The South Korean and U.S. soldiers held the combined live fire drill on Friday to display combined firing capabilities between South Korea and the U.S. militaries, showing that they are prepared to defend South Korea against North Korea's possible attack or provocations. (AP Photo/Ahn Young-joon) AP TOPSHOTS South Korean Army Surion helicopters fire flares during a joint live firing drill between South Korea and the US at the Seungjin Fire Training Field in Pocheon, 65 kms northeast of Seoul, on August 28, 2015. South Korean and US troops staged their biggest-ever joint live-fire drill on August 28, including a simulated mechanised assault deep into North Korean territory, just days after the two Koreas ended a tense military standoff. AFP PHOTO / JUNG YEON-JEJUNG YEON-JE/AFP/Getty Images AFP/Getty Images POCHEON, SOUTH KOREA - AUGUST 28: An KUH-1 Surion helicopter hovers during the South Korea and U.S. joint military exercise at the Seungjin firing drill ground on August 28, 2015 in Pocheon, South Korea. South Korea and U.S. military held a joint live fire military exercise at the Seungjin firing drill ground. The exercise is intended to prepare the South Korean defense force amid the tension with North Korea. (Photo by Chung Sung-Jun/Getty Images) Getty Images South Korean tanks participate in a joint live firing drill between South Korea and the US at the Seungjin Fire Training Field in Pocheon, 65 kms northeast of Seoul, on August 28, 2015. South Korean and US troops staged their biggest-ever joint live-fire drill on August 28, including a simulated mechanised assault deep into North Korean territory, just days after the two Koreas ended a tense military standoff. AFP PHOTO / JUNG YEON-JEJUNG YEON-JE/AFP/Getty Images AFP/Getty Images POCHEON, SOUTH KOREA - AUGUST 28: An 500MD helicopter hovers during the South Korea and U.S. joint military exercise at the Seungjin firing drill ground on August 28, 2015 in Pocheon, South Korea. South Korea and U.S. military held a joint live fire military exercise at the Seungjin firing drill ground. The exercise is intended to prepare the South Korean defense force amid the tension with North Korea. (Photo by Chung Sung-Jun/Getty Images) Getty Images POCHEON, SOUTH KOREA - AUGUST 28: South Korean military army parachuted down during the South Korea and U.S. joint military exercise at the Seungjin firing drill ground on August 28, 2015 in Pocheon, South Korea. South Korea and U.S. military held a joint live fire military exercise at the Seungjin firing drill ground. The exercise is intended to prepare the South Korean defense force amid the tension with North Korea. (Photo by Chung Sung-Jun/Getty Images) Getty Images POCHEON, SOUTH KOREA - AUGUST 28: South Korea military soldiers take part in the South Korea and U.S. joint military exercise at the Seungjin firing drill ground on August 28, 2015 in Pocheon, South Korea. South Korea and U.S. military held a joint live fire military exercise at the Seungjin firing drill ground. The exercise is intended to prepare the South Korean defense force amid the tension with North Korea. (Photo by Chung Sung-Jun/Getty Images) Getty Images POCHEON, SOUTH KOREA - AUGUST 28: South Korea military soldiers take part in the South Korea and U.S. joint military exercise at the Seungjin firing drill ground on August 28, 2015 in Pocheon, South Korea. South Korea and U.S. military held a joint live fire military exercise at the Seungjin firing drill ground. The exercise is intended to prepare the South Korean defense force amid the tension with North Korea. (Photo by Chung Sung-Jun/Getty Images) Getty Images POCHEON, SOUTH KOREA - AUGUST 28: South Korea military soldiers take part in the South Korea and U.S. joint military exercise at the Seungjin firing drill ground on August 28, 2015 in Pocheon, South Korea. South Korea and U.S. military held a joint live fire military exercise at the Seungjin firing drill ground. The exercise is intended to prepare the South Korean defense force amid the tension with North Korea. (Photo by Chung Sung-Jun/Getty Images) Getty Images POCHEON, SOUTH KOREA - AUGUST 28: An 500MD helicopter hovers during the South Korea and U.S. joint military exercise at the Seungjin firing drill ground on August 28, 2015 in Pocheon, South Korea. South Korea and U.S. military held a joint live fire military exercise at the Seungjin firing drill ground. The exercise is intended to prepare the South Korean defense force amid the tension with North Korea. (Photo by Chung Sung-Jun/Getty Images) Getty Images South Korean KF-16 fighter jets drop bombs on a mountain target during a joint live firing drill between South Korea and the US at the Seungjin Fire Training Field in Pocheon, 65 kms northeast of Seoul, on August 28, 2015. South Korean and US troops staged their biggest-ever joint live-fire drill on August 28, including a simulated mechanised assault deep into North Korean territory, just days after the two Koreas ended a tense military standoff. AFP PHOTO / JUNG YEON-JEJUNG YEON-JE/AFP/Getty Images AFP/Getty Images POCHEON, SOUTH KOREA - AUGUST 28: South Korea military soldiers take part in the South Korea and U.S. joint military exercise at the Seungjin firing drill ground on August 28, 2015 in Pocheon, South Korea. South Korea and U.S. military held a joint live fire military exercise at the Seungjin firing drill ground. The exercise is intended to prepare the South Korean defense force amid the tension with North Korea. (Photo by Chung Sung-Jun/Getty Images) Getty Images POCHEON, SOUTH KOREA - AUGUST 28: South Korea military soldiers take part in the South Korea and U.S. joint military exercise at the Seungjin firing drill ground on August 28, 2015 in Pocheon, South Korea. South Korea and U.S. military held a joint live fire military exercise at the Seungjin firing drill ground. The exercise is intended to prepare the South Korean defense force amid the tension with North Korea. (Photo by Chung Sung-Jun/Getty Images) Getty Images POCHEON, SOUTH KOREA - AUGUST 28: South Korea military soldiers take part in the South Korea and U.S. joint military exercise at the Seungjin firing drill ground on August 28, 2015 in Pocheon, South Korea. South Korea and U.S. military held a joint live fire military exercise at the Seungjin firing drill ground. The exercise is intended to prepare the South Korean defense force amid the tension with North Korea. (Photo by Chung Sung-Jun/Getty Images) Getty Images POCHEON, SOUTH KOREA - AUGUST 28: An AH64 Apachi helicopter hovers during the South Korea and U.S. joint military exercise at the Seungjin firing drill ground on August 28, 2015 in Pocheon, South Korea. South Korea and U.S. military held a joint live fire military exercise at the Seungjin firing drill ground. The exercise is intended to prepare the South Korean defense force amid the tension with North Korea. (Photo by Chung Sung-Jun/Getty Images) Getty Images POCHEON, SOUTH KOREA - AUGUST 28: South Korea military soldiers take part in the South Korea and U.S. joint military exercise at the Seungjin firing drill ground on August 28, 2015 in Pocheon, South Korea. South Korea and U.S. military held a joint live fire military exercise at the Seungjin firing drill ground. The exercise is intended to prepare the South Korean defense force amid the tension with North Korea. (Photo by Chung Sung-Jun/Getty Images) Getty Images POCHEON, SOUTH KOREA - AUGUST 28: South Korea military soldiers take part in the South Korea and U.S. joint military exercise at the Seungjin firing drill ground on August 28, 2015 in Pocheon, South Korea. South Korea and U.S. military held a joint live fire military exercise at the Seungjin firing drill ground. The exercise is intended to prepare the South Korean defense force amid the tension with North Korea. (Photo by Chung Sung-Jun/Getty Images) Getty Images POCHEON, SOUTH KOREA - AUGUST 28: South Korea military soldiers take part in the South Korea and U.S. joint military exercise at the Seungjin firing drill ground on August 28, 2015 in Pocheon, South Korea. South Korea and U.S. military held a joint live fire military exercise at the Seungjin firing drill ground. The exercise is intended to prepare the South Korean defense force amid the tension with North Korea. (Photo by Chung Sung-Jun/Getty Images) Getty Images POCHEON, SOUTH KOREA - AUGUST 28: South Korea military soldiers take part in the South Korea and U.S. joint military exercise at the Seungjin firing drill ground on August 28, 2015 in Pocheon, South Korea. South Korea and U.S. military held a joint live fire military exercise at the Seungjin firing drill ground. The exercise is intended to prepare the South Korean defense force amid the tension with North Korea. (Photo by Chung Sung-Jun/Getty Images) Getty Images POCHEON, SOUTH KOREA - AUGUST 28: South Korea military soldiers take part in the South Korea and U.S. joint military exercise at the Seungjin firing drill ground on August 28, 2015 in Pocheon, South Korea. South Korea and U.S. military held a joint live fire military exercise at the Seungjin firing drill ground. The exercise is intended to prepare the South Korean defense force amid the tension with North Korea. (Photo by Chung Sung-Jun/Getty Images) Getty Images POCHEON, SOUTH KOREA - AUGUST 28: An KUH-1 Surion helicopter hovers during the South Korea and U.S. joint military exercise at the Seungjin firing drill ground on August 28, 2015 in Pocheon, South Korea. South Korea and U.S. military held a joint live fire military exercise at the Seungjin firing drill ground. The exercise is intended to prepare the South Korean defense force amid the tension with North Korea. (Photo by Chung Sung-Jun/Getty Images) Getty Images POCHEON, SOUTH KOREA - AUGUST 28: An CH-47 Chinook helicopters hover during the South Korea and U.S. joint military exercise at the Seungjin firing drill ground on August 28, 2015 in Pocheon, South Korea. South Korea and U.S. military held a joint live fire military exercise at the Seungjin firing drill ground. The exercise is intended to prepare the South Korean defense force amid the tension with North Korea. (Photo by Chung Sung-Jun/Getty Images) Getty Images POCHEON, SOUTH KOREA - AUGUST 28: An KUH-1 Surion helicopters hover during the South Korea and U.S. joint military exercise at the Seungjin firing drill ground on August 28, 2015 in Pocheon, South Korea. South Korea and U.S. military held a joint live fire military exercise at the Seungjin firing drill ground. The exercise is intended to prepare the South Korean defense force amid the tension with North Korea. (Photo by Chung Sung-Jun/Getty Images) Getty Images POCHEON, SOUTH KOREA - AUGUST 28: South Korea military soldiers take part in the South Korea and U.S. joint military exercise at the Seungjin firing drill ground on August 28, 2015 in Pocheon, South Korea. South Korea and U.S. military held a joint live fire military exercise at the Seungjin firing drill ground. The exercise is intended to prepare the South Korean defense force amid the tension with North Korea. (Photo by Chung Sung-Jun/Getty Images) Getty Images POCHEON, SOUTH KOREA - AUGUST 28: South Korea military soldiers take part in the South Korea and U.S. joint military exercise at the Seungjin firing drill ground on August 28, 2015 in Pocheon, South Korea. South Korea and U.S. military held a joint live fire military exercise at the Seungjin firing drill ground. The exercise is intended to prepare the South Korean defense force amid the tension with North Korea. (Photo by Chung Sung-Jun/Getty Images) Getty Images POCHEON, SOUTH KOREA - AUGUST 28: South Korea military soldiers take part in the South Korea and U.S. joint military exercise at the Seungjin firing drill ground on August 28, 2015 in Pocheon, South Korea. South Korea and U.S. military held a joint live fire military exercise at the Seungjin firing drill ground. The exercise is intended to prepare the South Korean defense force amid the tension with North Korea. (Photo by Chung Sung-Jun/Getty Images) Getty Images POCHEON, SOUTH KOREA - AUGUST 28: South Korea military soldiers take part in the South Korea and U.S. joint military exercise at the Seungjin firing drill ground on August 28, 2015 in Pocheon, South Korea. South Korea and U.S. military held a joint live fire military exercise at the Seungjin firing drill ground. The exercise is intended to prepare the South Korean defense force amid the tension with North Korea. (Photo by Chung Sung-Jun/Getty Images) Getty Images POCHEON, SOUTH KOREA - AUGUST 28: An Cobra helicopter hovers during the South Korea and U.S. joint military exercise at the Seungjin firing drill ground on August 28, 2015 in Pocheon, South Korea. South Korea and U.S. military held a joint live fire military exercise at the Seungjin firing drill ground. The exercise is intended to prepare the South Korean defense force amid the tension with North Korea. (Photo by Chung Sung-Jun/Getty Images) Getty Images POCHEON, SOUTH KOREA - AUGUST 28: South Korea military soldiers take part in the South Korea and U.S. joint military exercise at the Seungjin firing drill ground on August 28, 2015 in Pocheon, South Korea. South Korea and U.S. military held a joint live fire military exercise at the Seungjin firing drill ground. The exercise is intended to prepare the South Korean defense force amid the tension with North Korea. (Photo by Chung Sung-Jun/Getty Images) Getty Images POCHEON, SOUTH KOREA - AUGUST 28: An 500MD helicopter hovers during the South Korea and U.S. joint military exercise at the Seungjin firing drill ground on August 28, 2015 in Pocheon, South Korea. South Korea and U.S. military held a joint live fire military exercise at the Seungjin firing drill ground. The exercise is intended to prepare the South Korean defense force amid the tension with North Korea. (Photo by Chung Sung-Jun/Getty Images) Getty Images POCHEON, SOUTH KOREA - AUGUST 28: South Korea military soldiers take part in the South Korea and U.S. joint military exercise at the Seungjin firing drill ground on August 28, 2015 in Pocheon, South Korea. South Korea and U.S. military held a joint live fire military exercise at the Seungjin firing drill ground. The exercise is intended to prepare the South Korean defense force amid the tension with North Korea. (Photo by Chung Sung-Jun/Getty Images) Getty Images POCHEON, SOUTH KOREA - AUGUST 28: An AH64 Apachi helicopter hovers during the South Korea and U.S. joint military exercise at the Seungjin firing drill ground on August 28, 2015 in Pocheon, South Korea. South Korea and U.S. military held a joint live fire military exercise at the Seungjin firing drill ground. The exercise is intended to prepare the South Korean defense force amid the tension with North Korea. (Photo by Chung Sung-Jun/Getty Images) Getty Images South Korean soldiers rappel down from a Surion helicopter during a joint live firing drill between South Korea and the US at the Seungjin Fire Training Field in Pocheon, 65 kms northeast of Seoul, on August 28, 2015. South Korean and US troops staged their biggest-ever joint live-fire drill on August 28, including a simulated mechanised assault deep into North Korean territory, just days after the two Koreas ended a tense military standoff. AFP PHOTO / JUNG YEON-JEJUNG YEON-JE/AFP/Getty Images AFP/Getty Images A US AH-64 Apache helicopter fires rockets during a joint live firing drill between South Korea and the US at the Seungjin Fire Training Field in Pocheon, 65 kms northeast of Seoul, on August 28, 2015. South Korean and US troops staged their biggest-ever joint live-fire drill on August 28, including a simulated mechanised assault deep into North Korean territory, just days after the two Koreas ended a tense military standoff. AFP PHOTO / JUNG YEON-JEJUNG YEON-JE/AFP/Getty Images AFP/Getty Images South Korean Army multiple rocket launch system launch rockets duirng a joint live firing drill with the US at the Seungjin Fire Training Field in Pocheon, 65 kms northeast of Seoul, on August 28, 2015. South Korean and US troops staged their biggest-ever joint live-fire drill on August 28, including a simulated mechanised assault deep into North Korean territory, just days after the two Koreas ended a tense military standoff. AFP PHOTO / JUNG YEON-JEJUNG YEON-JE/AFP/Getty Images AFP/Getty Images / Facebook

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Whatsapp South Korean army's K1A1 battle tank fires during the South Korea-U.S. joint military live-fire drills at Seungjin Fire Training Field in Pocheon, South Korea, near the border with North Korea, Friday, Aug. 28, 2015. The South Korean and U.S. soldiers held the combined live fire drill on Friday to display combined firing capabilities between South Korea and the U.S. militaries, showing that they are prepared to defend South Korea against North Korea's possible attack or provocations. (AP Photo/Ahn Young-joon)

The South Korean exercise follows the largest NATO airborne drills in Europe since the end of the Cold War that were held in Germany on Wednesday.

The exercise codenamed Swift Response, held in Hohenfels near Nuremberg, involved troops from the US, Bulgaria, Germany, Greece, Italy, Poland, UK and the US. The aim was to "develop interoperability and improve communication and mutual trust between the air and land military", NATO said in a statement.

Belfast Telegraph