The Chairman of the Sovereign Council and the head of Sudan's military, Abdel Fattah al-Burhan made a one-day official visit to Eritrea, where he met with President Isaias Afwerki, the Sudanese Armed Forces said in a statement.
Al-Burhan was accompanied on this visit by the Minister of Foreign Affairs, Ali Sadiq, and the Director of the General Intelligence Service, Ahmed Ibrahim Mufaddal.
According to the army, the leaders held talks on the path to enhance bilateral relations between Khartoum and Asmara.
"The discussions dealt with supporting the prospects for joint cooperation between the two countries, praising the positions of the Eritrean President in support of Sudan in regional and international forums," the statement said.
Sudanese Foreign Minister Ali Sadiq added that the talks focused on initiatives to resolve the Sudanese crisis and ways to bring them together to find peace and stability in the conflict-ridden country.
The minister also pointed to the "eternal and historical ties" that link the Sudanese and Eritrean peoples, stressing the desire of the leadership of the two countries to strengthen the bonds of cooperation.
On September 3, al-Burhan ordered the reopening of checkpoints on the borders with Eritrea, arguing that relations with Asmara are of great importance to Khartoum.
Armed clashes between RSF and the Sudanese army started on April 15. A number of temporary nationwide ceasefires have since been declared by the warring parties, but none of them have contributed to a resolution of the conflict.
On Sunday, clashes south of the capital Khartoum left 40 civilians dead and dozens injured. The civilians were reportedly killed in a bombing from a warplane that struck a market south of Khartoum.
According to the UN International Organization for Migration, more than 3.4 million people are internally displaced in Sudan, while more than one million have fled the country since the start of the conflict.