He called Iran-Kazakhstan relations as historical and cultural.
Nazarbayev for his part welcomed expansion of ties with Tehran and called for increase of trade exchange between the two states.
Establishment of Iran-Kazakhstan joint chamber of commerce will help boost the two state's economic cooperation, he added.
Iran and Kazakhstan signed several cooperation agreements in various fields of transportation, trade exchange and industry on Tuesday.
Prior to the inking ceremony, Rouhani and Nazarbayev held negotiations at the Akorda Presidential Palace discussing issues of mutual interest.
Later in the day, President Rouhani is to attend a luncheon given to his honor by President Nazarbayev.
President Rouhani arrived in Astana on Monday on the first leg of his five-day regional tour which will later take him to Tajikistan where he is to attend the 14th meeting of Shanghai Cooperation Organization.
President Rouhani is accompanied by a high-ranking political and economic delegation, including a number of cabinet members. This is the first visit to Kazakhstan of President Rouhani since he took office in August 2013.
