The Japanese Foreign Ministry confirmed today that Shigeru Yokota and his wife Sakie spent time with Kim Eun Gyong over several days last week in Ulan Bator, Mongolia. Kim is 26 years old, Japanese media said.
The meeting could be a small step toward resuming official government talks between Japan and North Korea.
Kim's mother, Megumi Yokota, was kidnapped in Japan when she was 13. She is believed to have married a South Korean, Kim Young Nam, who also was abducted by North Korea.
North Korea abducted at least 17 Japanese in the 1970s and 1980s, according to Japan. Five were allowed to return in 2002.
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Japan and North Korea do not have diplomatic relations, and have not had official talks since November 2012.
Foreign ministry officials from both countries held informal talks in China earlier this month on the sidelines of a meeting between the North Korean and Japanese Red Cross societies.
At those talks, the two countries agreed to the meeting between the Yokotas and their granddaughter, Japanese media reported.