Zarif arrived in Mauritania at top of a delegation on Sunday.
During the meeting, the two sides discussed ways to expand bilateral ties between Iran and Mauritania in political and economic fields as well peaceful settlements of regional disputes.
Separately, Zarif speaking to reporters called on Persian Gulf countries to sort out their differences through diplomatic and political means, referring to Saudi Arabia, the UAE, Egypt and Bahrain cut of diplomatic ties with Qatar.
“The crisis in Persian Gulf is worrisome for us. Since the beginning of the crisis, we called on all sides to avoid escalating tensions and settle it through talks.”
Zarif would travel to Tunisia after Mauritania.