During the meeting in the German city today, Zarif and Lavrov stressed that talks can help the affected countries reach a political solution to the ongoing crises.
The two sides, meantime, voiced their satisfaction over the current status of Iran-Russia relations, and called for the further broadening of mutual cooperation.
Zarif left Tehran for Munich on Friday to attend an important security meeting in the German city.
"I will hold detailed and inclusive bilateral negotiations with all my counterparts attending the Munich Security meeting," Zarif told reporters on Friday before his departure to Germany.
Munich is hosting a high-level security meeting on February 6-8.
A large number of leading decision-makers and prominent senior analysts from different countries are scheduled to participate at the two-day event in Munich to discuss various top political and security issues, notably terrorism, the Ukrainian conflict and the Mideast crisis hotspots.
Some 20 heads of states and governments as well 60 foreign and defense ministers are taking part in the security meeting in the Southern German city, widely regarded as the top annual gathering of political movers and shakers on global strategic issues.
Last week, Iranian Supreme Leader's top aide Ali Akbar Velayati underlined close cooperation between Tehran and Moscow on regional issues, and said the Syrian people and government resisted against the terrorists with the help of the two countries.
"Cooperation between Iran and Russia has been constructive and this cooperation helped the Syrian government and people resist under the legal leadership of Bashar Assad," Velayati said in an interview with Iran-based Arabic-language al-Alam news channel.
"We have cooperation on Iraq, Lebanon and Yemen too; we try to settle the crises and prevent others' meddling," he added.
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