Senior White House adviser Jared Kushner led a delegation from Israel to Morocco on the first official direct flight between the two countries since they established diplomatic ties this month.
Mr Kushner and his team previously played a key role in agreements that resulted in the UAE, Bahrain, Sudan and Morocco establishing full diplomatic relations with Israel.The landmark Abraham Accords was announced in August and signed at a White House ceremony a month later.
Mr Kushner, who steered deliberations leading to the accords, was accompanied during Tuesday's historic trip to Morocco by Israeli National Security Adviser Meir Ben-Shabbat. The pair are expected to meet Morocco's King Mohammed VI and other senior government officials.
Moroccan and Israeli officials are also scheduled to sign accords on linking up aviation and financial systems, on visas and water management.
The delegates' plane, painted with the Hebrew, Arabic and English words for "peace" and a Maghreb good-luck talisman, had a low-key reception at Rabat airport. Moroccan officials describe their deal with Israel as a restoration of mid-level ties that Rabat cooled in 2000 in solidarity with Palestinians.
Israel and Morocco now plan to reopen mutual "liaison offices". Israel hopes these will be upgraded to embassies.
Morocco was home to a large Jewish population before the establishment of Israel in 1948, many of whose ancestors migrated to North Africa from Spain and Portugal during the Spanish Inquisition. Today, hundreds of thousands of Israeli Jews trace their lineage to Morocco, and a small community of Jews lives in the country.
Before his departure from Israel, Mr Kushner said he was hopeful the delegation's visit would "pave the way for another warm peace between Israel and Morocco".
Mr Ben-Shabbat, whose family emigrated to Israel from Morocco, said "history is being written before our eyes".
The Abraham Accords were welcomed by US president-elect Joe Biden.