Chung Eui-yong, top security adviser for President Moon Jae-in, and Suh Hoon, director of the National Intelligence Service (NIS), left for Washington to stay there till Saturday morning.
During their stay in Washington, Chung and Suh will meet senior U.S. officials on security and intelligence affairs.
The DPRK leader told the South Korean envoys that he was willing to talk with the U.S. side about denuclearization and normalized relations between Pyongyang and Washington.
If military threat toward the DPRK is removed and its security is guaranteed, the country had no reason to keep its nuclear program, the DPRK leader said.
Chung told reporters at the airport in Incheon, west of Seoul, that it would be the most urgent task to encourage the DPRK and the United States to come to a dialogue table.