U.S. Vice President Mike Pence (C) visits the inter-Korean border village of Panmunjeom on April 17, 2017.
But Pence and Hwang said they were troubled by retaliatory economic moves by China against the deployment in South Korea of a US anti-missile system known as the Terminal High Altitude Area Defense (THAAD).
North Korea has conducted five nuclear tests, including two previous year.
Blue huts straddle the border, where tense negotiations have been held between the North, South and the USA since armistice.
The United States, its allies and China are working together on a range of responses to North Korea's latest failed ballistic missile test, Trump's national security adviser said on Sunday, citing what he called an worldwide consensus to act.
South Korea's foreign ministry said that by conducting the latest test just a day after displaying a series of missiles, "North Korea has threatened the whole world".
Mike Pence, who is set to meet the acting president of South Korea later, will visit four nations on his 10-day Asia tour.
Pence's visit, full of Cold War symbolism, comes amid increasing tensions and heated rhetoric on the Korean Peninsula.
The latest launch - which failed when the missile blew up seconds after blast off, according to US and South Korean officials - came a day after the North held a defiant massive military parade in Pyongyang showcasing almost 60 missiles, including a suspected new intercontinental ballistic missile.
Russia's foreign minister says he hopes the US will not take unilateral action against North Korea as it did recently in Syria. Pence is on the first stop of a four-nation Asia tour meant to show America's allies, and remind its adversaries, that the Trump administration was not turning its back on the increasingly volatile region.
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Trump's national security adviser, H.R. McMaster, is citing Trump's recent decision to order missile strikes in Syria after a chemical attack blamed on the Assad government as a sign that the president "is clearly comfortable making tough decisions". Trump tweeted on Sunday.
"The North attempted to launch an unidentified missile from near the Sinpo region this morning but it is suspected to have failed", South Korea's Office of the Joint Chiefs of Staff said in a statement.
After arriving in Seoul, the vice president placed a wreath at Seoul National Cemetery and then worshipped with military personnel at an Easter church service at the U.S. Army Garrison Yongsan.
"The people of North Korea, the military of North Korea should not mistake the resolve of the United States of America to stand with our allies", Pence was quoted as saying.
China is urging a return to negotiations over North Korea's pursuit of nuclear weapons after Vice President Mike Pence warned that the US has lost its patience with the regime.
Pence said that under Trump's leadership, "our resolve has never been stronger, our commitment to this historic alliance with the courageous people of South Korea has never been stronger and with your help and God's help, freedom will ever prevail on this peninsula".
China says the crisis is between the United States and North Korea. "Your willingness to step forward, to serve, to stand firm without fear, inspires the nation and inspires the world".
Pence's first trip to South Korea carries personal meaning as well.
U.S. officials told CNN they did not believe the missile had intercontinental capabilities, and blew up nearly immediately after launch. He also met with American troops stationed at the joint U.S.
A White House foreign policy adviser told reporters aboard Air Force Two that the type of missile that North Korea tried to fire on Sunday was medium-range, and that it exploded about 4 to 5 seconds after it was launched. In February 2012, the United States and North Korea announced an agreement in which the North would suspend operations of its Yongbyon uranium enrichment plant, allow global inspectors to verify the suspension, and implement moratoriums on nuclear and long-range missile tests. Recent satellite imagery suggests the country could conduct another underground nuclear test at any time.
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