Sharif described the event as "historic" as for the first time in the country's 66-year history, an elected premier was bidding farewell to an elected President who is completing his five-year tenure.
"This is an unprecedented golden chapter being added to the annals of our history. It's a new history in the making," said Sharif, the head of the ruling PML-N.
Sharif credited Zardari, the de-facto chief of the main opposition Pakistan People's Party, for introducing the 18th constitutional amendment and restoring the 1973 Constitution.
After the 2008 polls, the PML-N joined a government led by the PPP but the coalition ended within six months. The PPP was routed by Sharif's party in the election held in May.
Recalling the "pleasant memories" of a meeting in Jeddah with Zardari and his slain wife, former premier Benazir Bhutto, and the signing of the Charter of Democracy in Dubai, Sharif said a spirit of goodwill prevailed among them for restoring democracy in Pakistan.