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Article published on the 2008-08-14 Latest update 2008-08-14 09:03 TU
The pair "instructed their foreign ministries to take the necessary measures in this regard to conform with the laws of the two countries," a statement read.
The United States has responded cautiously to the agreement, saying it would be a "very good step", if Damascus truly honours Lebanese sovereignty.
"We have long stood for the normalisation of relations between Syria and Lebanon on the basis of equality and respect for Lebanese sovereignty," US Secretary of State Condoleezza Rice said.
Syria withdrew its troops from Lebanon in April 2005, ending almost three decades of military domination of the country.
The pullout came two months after the assassination of Lebanese ex-prime minister Rafiq Hariri in Beirut. Damascus has denied any responsibility for the murder despite accusations by Lebanese anti-Syrian groups.
Other topics on the agenda include border demarcation, the fate of missing persons, Lebanese detainees in Syria and the presence of pro-Syrian Palestinian groups in Lebanon, as well as the opening of embassies.
Sleiman's visit came a day after Beirut's Western-backed government won a vote of confidence in parliament, after fiery debates on the issue of weapons held by Syrian-backed Hezbollah.
The vote will now allow the 30-member cabinet, which was formed a month ago by prime minister Fouad Siniora, to start work.