The meeting, held at the presidential office Cheong Wa Dae, began at 4 p.m. and also involved Moon's national security adviser, Chung Eui-yong, who will visit Pyongyang on Wednesday as a special envoy of the president.
The trip is widely aimed at arranging a proposed summit between Moon and North Korean leader Kim Jong-un.
However, it also comes amid a deadlock in denuclearization talks between the United States and North Korea.
US President Donald Trump has called off a scheduled North Korea trip by US Secretary of State Mike Pompeo, citing what he called a lack of progress in the denuclearization process.
North Korea, on the other hand, is believed to be demanding a quid pro quo for its denuclearization steps taken so far.
Cheong Wa Dae has repeated its hope the trip by Chung may again help broker a deal between the two countries.
"I wish (the envoy) will also fulfill his role as priming water to enable a North Korea visit by US Secretary of State Mike Pompeo and progress in the denuclearization talks between the North and the US," Moon's chief of staff Im Jong-seok said earlier.
Chung's trip to Pyongyang will be the second of its kind in six months, following his March 5-6 trip to the North Korean capital that helped arrange the historic meeting between the US president and the North Korean leader in Singapore on June 12.
He will be heading a five-member delegation that includes National Intelligence Service Director Suh Hoon and Vice Unification Minister Chun Hae-sung.
The same five members visited North Korea in March.
Tuesday's meeting at Cheong Wa Dae was also attended by Suh and the ministers of foreign affairs, unification and defense. (Yonhap)