The African leaders appreciated India's development projects in the continent and sought deepening of ties in diverse sectors including health care, education and capacity building.
In his meeting, South African President Jacob Zuma strongly called for reform of global governance system and said the UN structure which was set up after the second world war cannot remain relevant in 21st century.
He said it was important that all like minded countries come together to ensure reform of the UN, particularly the UN Security Council, observing that many conflicts in the world including the Syrian crisis could not be resolved because of veto powers of the UNSC member countries, sources in the Ministry of External Affairs said.
There was a detailed discussion between Zuma and Modi on ways to tackle threat of terrorism, with both stressing that there was a need for concrete strategy to fight the menace in a united way.
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The South African leader said coming together of African countries with India showed to the world that they no longer are dependent on former colonial powers.
The Prime Minister also met Robert Mugabe, President of Zimbabwe, and Chairman of African Union. Both the leaders discussed issues of common interest, including UN reforms and the threat of terrorism.
The Prime Minister also met President John Dramani Mahama of Ghana during which both sides reviewed the "warm" bilateral ties.
Growing bilateral trade came up for discussion and both leaders stressed on the need to step up engagement in sectors like agriculture, IT, skill development, cyber security and maritime security.