South Korea's Presidential Blue House spokesman Kim Eui-kyeom said North Korea on Friday accepted a proposal made by Seoul earlier in the day to send the special envoys.
The special envoys will discuss the timing of the meeting as well as "establishing peace," "advancing inter-Korean ties," and the "denuclearization of the Korean peninsula," Kim said.
It was not clear who the envoys would be, Presstv Reported.
South Korean President Moon Jae-in will be the first South Korean leader to visit the North Korean capital in more than a decade.
The two leaders first met at a historic summit at the border village of Panmunjom in the Demilitarized Zone back in April.
A diplomatic thaw began between the two Koreas in January. Diplomacy with the US also ensued. While North Korea’s ties with South Korea have improved considerably since then, diplomatic engagement with the US has hit a snag.
US President Donald Trump last week cancelled a planned trip by Secretary of State Mike Pompeo to North Korea, citing unsatisfactory progress on the denuclearization of Pyongyang.
Trump's statement on Twitter Friday came just a day after Pompeo said he would again travel to North Korea along with his new US special representative, Stephen Biegun, in an attempt to break the deadlock.
Later, Trump hailed his personal relationship with North Korea’s leader Kim Jong-un and said there is no reason to resume war games with South Korea.
The North Korean leader has already told Trump that denuclearization depends on ceasing antagonism between the two nations, while the United States says tough sanctions will remain in place against Pyongyang until its complete denuclearization.