Relations between Pakistan and Afghanistan have been tense for months. The two sides accuse each other of turning a blind eye towards certain militant outfits.
The meeting between Zakhilwal and Bajwa came a day after Afghan President Ashraf Ghani in his UN General Assembly address sought dialogue with Pakistan to build strained ties and address raging militancy.
Army said in statement that the envoy met General Bajwa yesterday and held "detailed discussion on host of issues including steps helpful for peace and stability for both nations."
It, however, did not elaborate the steps that helped improvement in bilateral ties.