"The two leaders underscored the importance of maintaining peace and tranquility in all areas of the India-China border region in the larger interest of the overall development of bilateral relations", read a joint statement issued by the Indian Foreign Ministry.
The two leaders also agreed to undertake a joint project in war-ravaged Afghanistan that would stand for their ability to cooperate instead of competing with each other.
Prime Minister Modi next meets President Xi next month in China for the Shanghai Cooperation Organisation meeting though the next informal summit like this between Mr Modi and Mr Xi will take place in India next year.
Talks touched on economic issues, along with people-to-people relations, agriculture, technology, energy and tourism, Mr Modi said in his tweet. While the two leaders recognised the common threat posed by terrorism, specific issues like China's opposition to Jaish-e-Mohammad chief Masood Azhar being labeled a terrorist by the United Nations - and to India's membership of the Nuclear Suppliers Group - were not brought up.
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On the first day of the summit on Friday, Xi-Modi held one-to-one talks, where they talked about the historical past of both India and China.
"China and India should be good neighbours and good friends".
"We must firmly focus on development, deepen mutually beneficial cooperation, and jointly realize national rejuvenation to create a stable and prosperous Asia", Xi said. "India and China's cultural connect goes back many centuries", Kumar said on his official Twitter feed.
During the last meeting between Modi and Jinping, the latter had also reportedly told Modi that he enjoyed watching "Dangal" starring Aamir Khan, the highest-grossing Bollywood movie ever.
The confrontation escalated after China started building a road at the Doklam plateau, which is claimed by India's ally Bhutan.
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The two leaders then took a boat ride on the scenic East Lake. During the visit, PM Modi held multiple one-on-one meeting with Chinese President Xi Jinping to strengthen the bilateral relationship.
Invoking Xi's political slogan and his own, Modi said: "Together your "new era" dream and our "new India" effort will be the right step for the benefit of the world". They reiterated the importance of building an open, multi-polar, pluralist and participatory global economic order.
India Foreign Secretary Vijay Gokhale said after the talks that the two leaders had agreed dialogue was the way to deal with all the differences between the regional rivals, including the dispute over their high-altitude border in the western Himalayas.
Seven-day local weather forecast for April 29 through May 5
Storm Team 12 has issued a Weather Alert Day for Wednesday , with the potential for severe storms impacting Wichita. Sunday night , the low will be around 57 with partly cloudy skies, according to the weather service.