The meeting, held at the statehouse J1, also covered the upcoming elections and the reunification of peace forces.
Both leaders urged an end to the ongoing conflicts, according to a statement issued by the presidency.
They discussed land disputes, a major source of tension across the young nation.
Presidential Affairs Minister Bangasi Joseph Bakosoro briefed the media after the meeting.
He highlighted the discussions on elections scheduled for later this year and the ongoing reunification process for peace forces under the revitalized peace agreement of 2018.
“The meeting further addressed the upcoming elections, particularly the funding of electoral institutions and Phase II of the Security Arrangements,” Bakosoro said.
However, Kiir and Machar reportedly disagree on whether elections should be held in December 2024, as stipulated in the 2022 peace roadmap that extended the transitional period by 24 months.
While Kiir advocates for December elections, Machar argues that the country remains unprepared, citing outstanding tasks and unfulfilled prerequisites outlined in the peace agreement.