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Steinmeier and Yang met prior to a six-nation meeting on Iran's nuclear issue.
Speaking to reporters before their talks, Steinmeier said he was "very happy" as his meeting with Yang "is a signal that our relationship can now return to normal."
Steinmeier reiterated the German government's adherence to the one-China policy and urged both sides to adopt a "forward-looking" attitude in handling bilateral relations.
He also called on both sides to continue rebuilding mutual trust and resume the exchange of high-level visits.
The Chinese foreign minister is in Berlin to join his counterparts from Britain, France, Germany, Russia and the United States for discussions Tuesday on Iran's nuclear issue.- Source: By Government of China