Afghan ambassador to Pakistan Omer Zakhilwal called on army chief General Raheel Sharif on Friday and discussed bilateral relations with particular reference to border management.
According to the ISPR, the two leaders agreed to resume routine and border traffic at Torkham border.
The border crossing at Torkham remained shut for a fourth consecutive day on Friday, stranding thousands of people and vehicles on both sides.
Pakistani authorities closed the border on Tuesday after Afghan border forces prevented fencing along the border to stop illegal cross-border movements.
Both sides expressed resolve to continue efforts in fighting terrorism and bring lasting peace in the region.
Pakistan has, on a number of occasions, floated proposals to better manage its border with Afghanistan to curb illegal movement into either country. However, officials claim these plans have never reached fruition owing to a lukewarm response from Afghanistan.
The cross-border movement of militants is one of the major sticking points in Pak-Afghan relations. Both countries have repeatedly accused the other of failing to maintain strict border controls, particularly when any terrorist attack takes place on either side.