Lavrov's visit to North Korea was the latest in a series of high-profile trips by top Moscow officials as both countries deepen military and political ties amid Russia's offensive against Kyiv.
Pyongyang sent thousands of troops to Russia's Kursk region to oust Ukrainian forces and has also provided the Russian army with artillery shells and missiles.
Moscow said Lavrov's talks with Kim were held in a warm comradely atmosphere.
Lavrov expressed sincere gratitude to Pyongyang for its role in Kursk and support of Russia's operation, the Russian foreign ministry said in a statement.
Moscow also said the two sides agreed that the West was to blame for the growing tension on the Korean peninsula.
The ministry earlier posted a video on Telegram of the two men shaking hands and greeting each other with a hug.
It said the talks were held in Wonsan, a city on North Korea's east coast where a massive resort was opened earlier this month one of leader Kim's pet projects.
Kim told Lavrov that Pyongyang was ready to unconditionally support and encourage all the measures taken by the Russian leadership as regards the tackling of the root cause of the Ukrainian crisis, the Korean Central News Agency (KCNA) said.
The North Korean leader also expressed a firm belief that the Russian army and people would surely win victory in accomplishing the sacred cause of defending the dignity and basic interests of the country.
He lauded Putin's outstanding leadership, the report said.
The two men otherwise discussed important matters for faithfully implementing the agreements made at the historic DPRK-Russia summit talks in June 2024, KCNA said, referring to North Korea by its official acronym.
Lavrov told Kim that Putin hopes for continued direct contacts in the very near future, according to Russia's TASS news agency.
He left Pyongyang and landed in Beijing on Sunday to attend a meeting of the Shanghai Cooperation Organisation Foreign Ministers Council, TASS reported on its Telegram account.
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