"We have been against any preconditions to stop the violence and start the dialogue, because we believe that the priority number one is to save lives," Lavrov said on Friday.
Speaking to BBC, Lavrov said Moscow would not ask the Syrian President Bashar al-Assad to stand aside while it is agreed that negotiations would be the best way to solve the crisis in Syria.
Lavrov reiterated that it was only up to the Syrian nation to decide who will lead their country.
"Unless we all act in sync, telling the parties we don't want any military solution, that we don't want any further loss of Syrian lives, that we want them to start negotiating in earnest… this crisis will continue and more blood will be shed."
Earlier this month, Syrian Parliament Speaker Mohammad Jihad al-Laham said President Bashar al-Assad's government is ready to start talks with opposition groups without any precondition.
"… God willing we will win through (maintaining) unity and integrity and we have no precondition for sitting at the negotiating table for talks," al-Laham told FNA in Damascus on Monday.
He noted that the Syrian people are relying on their national possibilities to get rid of the current crisis, and stressed, "The door of negotiation and dialogue is open to everyone, and everyone can sit at the negotiating table to first put an end to the Syrian citizens' pains and sufferings and then provide a safe exit from the crisis for the Syrian people."
Last Sunday and after a meeting with Syrian Foreign Minister Walid Mualem in Tehran, Iran's Foreign Minister Ali Akbar Salehi informed the media that Damascus has expressed its readiness to sit to the negotiating table even with armed groups.
Speaking to reporters at a joint press conference with his visiting Syrian counterpart, Salehi said Iran is trying to prepare the ground for a meeting between the Syrian government and opposition.
"The Syrian government has voiced its preparedness (for talks) and there remains no excuse (for the opposition to avoid talks). Mr. Mualem has announced in Syria that his country's leaders are prepared to even talk with the armed opposition," Salehi added.
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