Officials said that the delegation of Pakistan Rangers will leave India by Saturday afternoon.
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An official statement issued by the Union Home Ministry said that Burki told Singh that Pakistan also wanted to have good cordial relations with India and will follow the decisions taken in their deliberations.
During the talks Rajnath also asserted that both the nations need to be united in controlling terrorism.
Media reports further said that a new strategy and protocols will be discussed and finalised today.
Singh said that India wants friendly relations with all its neighbours and that was the reason, Prime Minister Narendra Modi had invited all heads of neighbouring countries when he took charge and even met his Pakistan counterpart Nawaz Sharif at Ufa in Russian Federation.
The bi-annual talks between the BSF and the Pakistan Rangers began at the BSF Headquarters at the CGO Complex here on Thursday at 10.30 am.
When Pakistan Rangers raised the issue of air space violation, the BSF said it was not their domain as they do not have any air assets.
The Pakistan Rangers chief led a 16-member delegation to India while the BSF fielded a 23-member delegation. Pakistan had registered a complaint with the UNOGIP in July, blaming India of ceasefire violations.
The two soldiers were fired upon from the Pakistani side near the Hira Centre in Baramullah, Kashmir as they brought lunch for their colleagues.
Key issues to be discussed will include repeated ceasefire violations and cross-border infiltration.
The first-ever NSA-level talks between the two countries were called off, hours after India made it clear that discussions on Kashmir and a meeting with separatists will not be acceptable.
Last month, the first high-level peace talks in years between the National Security Advisers of the two countries were cancelled after a dispute over the agenda for the talks.
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The Pakistani side led by Rangers director general (Punjab) Major General Umar Farooq Burki was received at the Attari-Wagah land border near Amritsar by senior BSF commanders of the Punjab frontier.
