Both parties agreed that the current situation was the most tense and unsafe peace and security issue in the world today, the United Nations said in a statement.
North Korea's state-run Korean Central News Agency (KVNA) said on Saturday that the visit contributed to a deeper understanding and that they agreed to communicate at "various levels".
Feltman's visit follows last month's launch by North Korea of a ballistic missile that Pyongyang said could reach the entire U.S. mainland.
Anchor: The Defense Ministry says that North Korea may engage in fresh provocations in order to increase its leverage in negotiations with the U.S.
The UN Undersecretary General for Political Affairs, Jeffrey Feltman, on Saturday concluded his five-day visit to North Korea, during which both parties agreed to remain in regular contact.
In a sharp statement issued Thursday morning, the North Korean deputy foreign minister warned that the outbreak of war with the USA is unavoidable, adding that Pyongyang will make "the U.S. will pay dearly".
US Vice President Pence faces Middle East boycott
Jibril Rajoub, a senior member of Abbas's Fatah party, told AFP the same day that Pence was "not welcome in Palestine". Pence is expected to visit Israel later this month, with a stop in the Palestinian city of Bethlehem.
At least 49 countries were found to have violated U.N. Security Council resolutions on North Korea within the past five years by maintaining various illicit relations with the country, according to a report released by a US institute.
United States experts have said it does seem as though North Korea is just two or three tests away from being combat-ready.
PYONGYANG, North Korea (AP) - A senior United Nations official left Pyongyang on Saturday after four days of talks with the North Korean Foreign Ministry.
At the meeting, Defense Minister Song said war has changed completely compared to the past amid growing asymmetric warfare threats such as nuclear, missile and cyber attacks.
"The US will be held accountable for all consequences from this reckless, wicked act".
Kim, described in the fulsome language of Pyongyang's mouthpiece as "the peerlessly illustrious commander who controls the nature", used the opportunity to dwell on the "emotion-charged days when he realised the great historic cause of completing the state nuclear force without yielding even a moment".