An Israeli delegation headed by Intelligence Minister Eli Cohen visited Sudan for the first time.
Officials discussed moving forward on a deal to normalise relations, brokered by the US in October, the Israeli minister said on Tuesday.
"I am confident this visit lays the foundations for many important collaborations that will assist both Israel and Sudan, as well as security [and] stability in the region," he said, after the delegation returned to Israel on Monday.
There was no immediate comment from Sudanese officials on the visit that took place on Monday.
The country became the fourth in the Mena region to sign an accord to normalise ties with Israel in the past year, following the UAE, Bahrain and Morocco.
The new US administration of President Joe Biden has said it would build on those deals.
The deputy commander of the US Africa Command, Andrew Young, was expected to arrive in Sudan on Tuesday on a two-day visit.
Mr Cohen, the first minister to head such a trip, said he met Sudanese leaders and the Israeli delegation discussed with their hosts a variety of diplomatic and security issues as well as the potential for economic co-operation.
It was agreed that a Sudanese delegation would travel to Israel.
