North Korean troops have opened fire across the demilitarised zone dividing the peninsula, prompting South Korean forces to fire back.
The rare exchange of gunfire took place on Sunday, a day after North Korean state media reported the country's leader Kim Jong-un made his first public appearance in about three weeks.
Mr Kim's absence caused intense speculation about his health and fears about the stability of North Korea.
A South Korean guard post was hit by several shots fired from the North Korea, the joint chiefs of staff in Seoul said.
No casualties were reported in the South, they said.
"Our military responded with two rounds of gunfire and a warning announcement," the joint chiefs said.
The South Korean military said the North Korean gunshots were "not deemed intentional", according to Seoul's Yonhap News Agency.
The nations remain technically at war after the Korean War ended with an armistice in 1953.
Despite its name, the demilitarised zone is one of the most fortified places on Earth, replete with minefields and barbed-wire fences.
Easing military tension on their border was one of the agreements reached between Mr Kim and South Korean President Moon Jae-in at a summit in Pyongyang in September, 2018.
Choi Kang, vice president of the Asian Institute for Policy Studies in Seoul, said the timing of the "grey area" provocation showed Mr Kim was still in charge of the North Korean military.
"Yesterday, Kim was trying to show he is perfectly healthy, and today, Kim is trying to mute all kinds of speculation that he may not have full control over the military," Mr Choi said.
"Rather than going all the way by firing missiles and supervising a missile launch, Kim could be reminding us, 'yes, I'm healthy and I'm still in power'.
Leif Eric Easley, an international affairs professor at Ewha University in Seoul, said the shooting could have been aimed at boosting morale in the North Korean military.
"The Kim regime may be looking to raise morale of its frontline troops and to regain any negotiating leverage lost during the rumour-filled weeks of the leader's absence," Mr Easley said.
"South Korea and the United States should not take lightly such North Korean violations of existing military agreements."
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Who's who in Yemen conflict
Houthis: Iran-backed rebels who occupy Sanaa and run unrecognised government
Yemeni government: Exiled government in Aden led by eight-member Presidential Leadership Council
Southern Transitional Council: Faction in Yemeni government that seeks autonomy for the south
Habrish 'rebels': Tribal-backed forces feuding with STC over control of oil in government territory
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ICC Awards for 2021
MEN
Cricketer of the Year – Shaheen Afridi (Pakistan)
T20 Cricketer of the Year – Mohammad Rizwan (Pakistan)
ODI Cricketer of the Year – Babar Azam (Pakistan)
Test Cricketer of the Year – Joe Root (England)
WOMEN
Cricketer of the Year – Smriti Mandhana (India)
ODI Cricketer of the Year – Lizelle Lee (South Africa)
T20 Cricketer of the Year – Tammy Beaumont (England)
Results for Stage 2
Stage 2 Yas Island to Abu Dhabi, 184 km, Road race
Overall leader: Primoz Roglic SLO (Team Jumbo - Visma)
Stage winners: 1. Fernando Gaviria COL (UAE Team Emirates) 2. Elia Viviani ITA (Deceuninck - Quick-Step) 3. Caleb Ewan AUS (Lotto - Soudal)
Small Victories: The True Story of Faith No More by Adrian Harte
Jawbone Press
Key findings of Jenkins report
- Founder of the Muslim Brotherhood, Hassan al Banna, "accepted the political utility of violence"
- Views of key Muslim Brotherhood ideologue, Sayyid Qutb, have “consistently been understood” as permitting “the use of extreme violence in the pursuit of the perfect Islamic society” and “never been institutionally disowned” by the movement.
- Muslim Brotherhood at all levels has repeatedly defended Hamas attacks against Israel, including the use of suicide bombers and the killing of civilians.
- Laying out the report in the House of Commons, David Cameron told MPs: "The main findings of the review support the conclusion that membership of, association with, or influence by the Muslim Brotherhood should be considered as a possible indicator of extremism."