In this stage – the second of three – North Korea will receive heavy fuel oil if it permanently disables its nuclear facilities and provides a complete inventory of its nuclear programme.
The aid deal was agreed in February by six countries including China, Japan, Russia and South Korea.
"After many twists and turns, the six-party process has gained momentum again"
Chun Yung-woo, South Korean nuclear envoy
Last month North Korea shut its nuclear reactor in Yongbyon, a plant that turns spent fuel into bomb-grade plutonium.
It also allowed UN nuclear inspectors into the plant in return for 50,000 tonnes of heavy fuel oil provided by South Korea.
Chun Yung-woo, the South Korean nuclear envoy, said
said: "After many twists and turns, the six-party process has gained momentum again."
The nuclear talks are usually held in Beijing.
Last week, at a meeting of Southeast Asian nations, Pyongyang demanded that Washington remove it from a list of states that sponsor terrorism before proceeding further with the dismantling its nuclear programme.
Agreements on ending North Korea's nuclear programme include proposals for discussions on a peace plan for the peninsula.
The two Koreas have remained technically at war since the 1950-53 Korean War ended in a ceasefire that has never been replaced with a peace treaty.