In a joint statement released after talks between Iranian Foreign Minister Hossein Amir-Abdollahian and Saudi counterpart Prince Faisal bin Farhan, the two sides vowed to continue to work together to improve ties.
"The two sides emphasised the importance of following up on the implementation of the Beijing Agreement and its activation in a way that expands mutual trust and the fields of cooperation and helps create security, stability and prosperity in the region," said the statement.
Tehran and Riyadh announced a Beijing-brokered agreement in March to restore relations that had been severed seven years ago when protesters in Iran attacked Saudi diplomatic missions.
The ministers' visit to Beijing came as French President Emmanuel Macron and EU chief Ursula von der Leyen were also in the Chinese capital, seeking to make Europe's case in a meeting with Xi Jinping for bringing an end to the conflict in Ukraine.
The shock rapprochement between mainly Sunni Muslim Saudi Arabia, the world's biggest oil exporter, and Shiite-majority Iran, strongly at odds with Western governments over its nuclear activities, has the potential to reshape relations across a region characterised by turbulence for decades.
The two sides "negotiated and exchanged opinions with the emphasis on the official resumption of bilateral relations and the executive steps towards the reopening of the embassies and consulates of the two countries", Iran's foreign ministry said in a statement.
Saudi state TV channel Al Ekhbariya aired footage of the pair shaking hands in front of Saudi and Iranian flags and then talking and smiling.
Chinese foreign ministry spokesperson Mao Ning hailed the meeting, adding that the ministers "expressed their gratitude to China for its contribution to the promotion of dialogue".
"China will work with Middle Eastern countries to implement global security initiatives, global development initiatives and global civilisation initiatives to promote security, stability, development, prosperity, tolerance and harmony," Mao added.
Under last month's agreement, the two countries are to reopen their embassies and missions within two months and implement security and economic cooperation deals signed more than 20 years ago.
Saudi Arabia severed relations with Iran in January 2016, after protesters attacked its embassy in Tehran and consulate in the Iranian city of Mashhad over Riyadh's execution of the Saudi opposition Shiite cleric Nimr al-Nimr.
Talks between the foreign ministers are expected to be followed by Iranian President Ebrahim Raisi's visit to Riyadh.
Raisi accepted an invitation from Saudi Arabia's King Salman, Iran's First Vice President Mohammad Mokhber said on Monday.
- Challenge to US -
Iran and Saudi Arabia support rival sides in several conflict zones across the region, including in Yemen, where the Huthi rebels are backed by Tehran and Riyadh leads a military coalition supporting the government.
The two sides also vie for influence in Syria, Lebanon and Iraq.
Riyadh's traditional ally Washington welcomed the detente agreement, but said it remains to be seen whether the Iranians will "honour their side of the deal".
China's success in bringing Iran and Saudi Arabia together has challenged the United States' long standing role as the main outside power broker in the Middle East.
An expert told AFP that Beijing's role would likely increase confidence that any deal would stick.
"Because China is a strong backer of Iran, Saudi should have more confidence in Iran's ability to comply with the agreement, an issue that has always been in doubt," said Joel Rubin, former US Deputy Assistant Secretary of State for Legislative Affairs.
Thursday's meeting "suggests that the process hasn't gone off track since the Beijing announcement last month", said Ali Vaez, Director of the International Crisis Group's Iran Project.
"But it's still early days to judge whether this is just a tactical detente or a way-station towards strategic rapprochement."
- Warming ties -
Officials from Iran and Saudi Arabia held several rounds of dialogue in Baghdad and Oman before they met in Beijing.
In 2016 a number of Gulf countries followed Riyadh's action in scaling back ties with Tehran, but they have led the way in restoring diplomatic relations.
Iran welcomed an Emirati ambassador last September, after a six-year absence, and on Wednesday named its own ambassador to the UAE, following a nearly eight-year hiatus.
Last year Iran said Kuwait had sent its first ambassador to Tehran since 2016.
Iran has also welcomed a potential rapprochement with Bahrain, a close Saudi ally, which in the past accused Iran of backing a Shiite-led uprising in the Sunni-ruled kingdom, an accusation Tehran denies.
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