Kim and the South's president Moon Jae-in are due to meet on April 27 at the South's side of the demilitarized zone for the landmark inter-Korean summit.
Thursday's working-level meeting was aimed at ironing out the protocols, security measures and media coverage of the summit, the South's presidential office said.
"We had sincere talks for four hours straight", said Kwun Hyuk-ki, one of the five-member South Korean delegation to the talks.
He declined to give details, saying the two sides will meet again for further discussions on a date yet to be fixed.
This month's summit will be only the third of its kind since the 1950-53 Korean War ended with an armistice.
It is set to take place at the South's Peace House in the border truce village of Panmunjom, the same building in which Thursday's meeting was held.
News reports said Kim is likely to be welcomed by South Korean military guards of honour, because two former South Korean presidents were met by North Korean honour guards when they visited Pyongyang for the previous summits in 2000 and 2007.
The South's delegation Thursday was led by Kim Sang-gyun, a senior director from the National Intelligence Service, who met Kim Chang Son, an official from the North's state affairs commission and five other delegates.
An ongoing rapprochement was triggered by the South's Winter Olympics, to which the North sent athletes, cheerleaders and Kim's sister as an envoy.
Kim has since embarked on a diplomatic overture that has seen him pencil in summit meetings with the South and the US and make his international debut with a visit to Beijing -- his first overseas trip since taking power in 2011.
The rapid diplomatic thaw on the peninsula has even seen Kim and his wife attend a concert put on by South Korean pop stars in the North's capital.
A different group of officials from the two sides will meet Saturday for another round of working-level talks to discuss setting up a hotline between the leaders of North and South Korea.
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