The failed launch occurred near Sinpo, on North Korea's east coast, and the missile blew up nearly immediately, according to the USA military.
As Trump promises North Korea will be "taken care of", South Korea - an ally of the USA - warned that a "provocation" would lead to a "powerful punitive measure". "If the USA comes with reckless military maneuvers, then we will confront it with the DPRK's pre-emptive strike".
In addition, North Korea's vice minister, Han Song-ryol, said his country "will go to war if they choose".
Tensions are deepening as the US has sent an aircraft carrier to waters off the peninsula and is conducting its biggest-ever joint military exercises with South Korea.
"Lately, tensions have risen with the United States and the ROK on one side, and the DPRK on the other, and one has the feeling that a conflict could break out at any moment", Mr Wang said, using abbreviations for South and North Korea.
On Wednesday, North Korea said it would "hit the US first" with a nuclear weapon should there be any signs of USA strikes. He was expected to join US and South Korean troops for Easter Sunday church services and a dinner later in the day.
"No one can become a victor", Wang told reporters at a news conference with French Foreign Minister Jean-Marc Ayrault.
The North conducted two nuclear weapon tests previous year alone.
The news comes as the North Korean army on Friday vowed a "merciless" response to any U.S. provocation, according to the country's official news agency KCNA.
Kishida said that Japan needs "to be fully prepared to take various measures".
'We know we need to do better'
In the video, which appeared shaky, Stephens got out of his auto and approached Godwin, who was holding a shopping bag. He posted video of the murder on Facebook and claimed to commit other homicides in a series of live videos and posts.
Military analysts say the missiles could one day be capable of hitting targets as far away as the continental United States, although the North has yet to flight test them.
The North Korean leader did not speak during the annual parade - which celebrates the birthday of his late grandfather Kim Il-sung in 1912, the regime's founding ruler - but a top official warned that the North would stand up to any threat posed by the US.
Air China and North Korea's Air Koryo are the only two airlines serving that route, with the latter operating on Mondays, Wednesdays and Fridays.
A North Korean man looks at a model of the Unha 3 space launch vehicle displayed at the Mangyongdae Children's Palace on Friday, April 14, 2017, in Pyongyang, North Korea.
He attended a grand military parade in the capital in which what appeared to be new long-range ballistic missiles were displayed.
He said Kim Jong-un's nuclear program helped the regime's "long-term viability".
"Now we are comparing Trump's policy toward the DPRK with the former administration's and we have concluded that it's becoming more vicious and more aggressive", Han said. "But it did not cross what is deemed a red line for the U.S.as it apparently refrained from conducting a nuke test or an ICBM launch", said Jo Seong-ryul, a researcher at the Institute for National Security Strategy.
Other than a new type of ICBM, also on display were prototypes of submarine-launched missiles and IRBMs at the parade, Seoul's military said.
Despite the mounting tensions, there has been little sign of strain on the streets of Pyongyang in recent days, where the focus has been on preparations for Saturday's anniversary.
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