South Korean President Moon Jae-in has invited Kim Yo Jong and Kim Yong Nam to a luncheon at Seoul's presidential palace on Saturday in what would be the most significant diplomatic event between the rivals in years.
"The Vice President is grateful that President Moon reaffirmed his strong commitment to the global maximum pressure campaign and for his support for continued sanctions", said Pence's spokeswoman, Alyssa Farah.
Pence will start his second day here by traveling to the Navy's 2nd Fleet Command in Pyeongtaek, 70 kilometers south of Seoul, where the wreckage of the ill-fated Cheonan warship is on display.
Mr Pence had kept open the possibility for some contact with the North Koreans in South Korea, while reiterating Washington's insistence that denuclearisation by North Korea is a necessary condition for permanent peace.
The sister of North Korean ruler Kim Jong Un attended the Pyeongchang Olympic Games opening ceremony on Friday.
Pence's trip has raised cautious expectations about possible U.S.
But the North was still welcomed with open arms to what South Korean President Moon Jae-in called "Olympic games of peace" and the US appeared to be the one left out in the cold.
The U.N. says Secretary-General Antonio Guterres had a brief exchange with North Korea's nominal head of state and "reiterated his expectation and hope that all parties will use dialogue to achieve the denuclearization of the Korean Peninsula".
Saturday's meeting was the first time a South Korean president hosted North Korean officials at the Blue House since 2007.
Analysts noted that Kim Yo Jong was shown holding a blue folder adorned with a gold seal, which she later placed in front of her on the table, leading to speculation in South Korean media that it could contain a personal letter from her brother to the South Korean President. Athletes from the two countries marched side by side during the opening ceremony and have formed a joint women's hockey team.
Since diplomatic efforts are "almost zero", sources said this may signal a "calm before the storm", with North Korea quietly preparing its next moves for after the Olympics. He also said the ceremonies were not the appropriate venue for serious talks.
The sister of the North Korean leader has arrived in South Korea, dressed in a black coat and absorbing a barrage of camera flashes.
She smiled brightly as she was greeted by South Korean officials led by Unification Minister Cho Myoung-gyon at a meeting room at Incheon International Airport.
Saturday's meeting also involved two other high-level delegates - Choe Hwi, the chairman of the National Sports Guidance Committee, and Ri Son-gwon, the head of the North's state agency in charge of inter-Korean affairs.