In the session held in Tehran on Monday evening with Iranian and South African delegations in attendance, the two sides exchanged views about a range of issues, including ways to boost political relations between Tehran and Pretoria.
Jaberi Ansari and Mfeketo also discussed the latest efforts to boost economic and political cooperation between the two countries.
Supporting the rights of Palestinians, opposing the instrumental use of human rights, combatting terrorism and extremism, and the diplomatic resolution of the Syrian crisis were among other topics raised during the meeting.
Expansion of relations with African nations in all political, economic and cultural fields is top on the agenda of Iran's foreign policy.
Iranian President Hassan Rouhani, who was re-elected in May, has repeatedly stressed his government's interest in boosting relations with the African states.