Senior UN officials told North Korean figures that there was an "urgent need" to keep the country in touch with the UN to avoid the risk of war.
In a statement delivered after the visit of Deputy Secretary General for Political Relations Jeffrey Feltman who met with a number of North Korean officials including Foreign Minister Ri Yong-ho.
The arrival of Jeffrey Feltman is the visit of the highest UN official who visited North Korea in the last six years.
In a meeting with the UN, North Korea said it agreed to conduct regular communications with the UN.
Tensions over North Korea's nuclear program increased dramatically after missile tests last week. North Korea says it is the most sophisticated missile, reaching the US continent.
This trial is a series of nuclear and missile tests conducted to oppose UN sanctions.
Meanwhile, South Korea and the United States have conducted joint large-scale military training for a show of force.
'Hostile US policy'
The United Nations continues its program of providing food, agriculture and health aid in North Korea, but the last senior official visited the country in 2011.
After meeting with Deputy Secretary General for Political Affairs Feltman, all senior North Korean officials agreed "the latest situation is the most stressful and endangering peace and security issues in the world at the moment", according to the statement.
|Feltman met with high-ranking North Korean officials during his visit, including Foreign Minister Korut Ri Yong-ho|
"Given the urgent need to prevent miscalculations and open channels to reduce the risk of conflict, Feltman underscored that the international community, worried about rising tensions, is committed to achieving a peaceful solution," he added.
North Korean government media said the current tensions "imply a hostile US policy".
However, in a report on Feltman's visit, North Korean state media KCNA said the two sides agreed to "communicate through visits at different levels regularly in the future".
Before visiting Pyongyang, Feltman held talks in China, a close ally of North Korea and major trading partners.
Despite calls from world leaders to refrain, this year US President Donald Trump and North Korean leader Kim Jong-un insult each other, both calling each other insane.
Although US Secretary of State Rex Tillerson has said the lines of communication between the two countries remain open.
North Korea believes its nuclear capability is just to prevent other countries in the world to destroy it.