Holding a meeting in Geneva Monday, the two FMs discussed bilateral relations and underlined strengthening of cooperation.
Regional issues such as the Syrian crisis were among issues discussed by the two politicians.
The Iranian and Russian ministers also reviewed the latest developments in nuclear talks between Iran and P5+1 (the US, UK, France, Russia, China, and Germany) and underlined continuation of talks between the negotiating parties.
Zarif and US Secretary of State John Kerry are to travel to Montreux later the day where the nuclear talks will be held.
Kerry and Lavrov are also scheduled to meet on the Iranian nuclear case.
Like the previous round of talks which ended on Feb. 23, Iran’s Head of Iran's Atomic Energy Organization Ali Akbar Salehi and the US Secretary of Energy Ernest Moniz will also attend the talks to cover the technical details.
On Monday, Zarif also met his Dutch counterpart Bert Koenders and United Nations High Commissioner for Human Rights Zeid Ra'ad Al Hussein on issues of mutual interests.