The US Middle East envoy said the talks, between Israeli PM Benjamin Netanyahu and Palestinian leader Mahmoud Abbas, had been "constructive".
Both sides have agreed to meet again in the Middle East in two weeks.
As the talks opened, US Secretary of State Hillary Clinton told Mr Abbas and Mr Netanyahu they had the "opportunity to end this conflict".
Mr Netanyahu said painful concessions from both sides would be needed.
Mr Abbas called on Israel to end all settlement construction and lift the blockade of the Gaza Strip.
The talks at the US state department, the first such negotiations in 20 months, began with a pledge of "full and active support" from the US.
They had been initiated by US President Barack Obama, who gave them a one-year deadline.
He has said the goal is a permanent settlement that ends the Israeli occupation of territory captured in 1967, and an independent, democratic Palestinian state existing peacefully beside Israel.
