Russian tanks and armoured vehicles roll out of Gori, Georgia
Russia has dismissed a warning by Nato that normal relations are impossible while its troops remain inside Georgia.
Foreign Minister Sergei Lavrov accused Nato of bias and of trying to save the "criminal regime" in Tbilisi.
He insisted Moscow was not occupying Georgia and had no plans to annex the separatist region of South Ossetia.
Earlier, Nato demanded that Russia pull out its troops from Georgia as agreed in an EU-brokered ceasefire plan signed by both parties at the weekend.
Russian President Dmitri Medvedev told his French counterpart Nicolas Sarkozy in a phone call that the pull-out would be complete by 21-22 August, with the exception of some 500 troops, who will be installed in peacekeeping posts on either side of South Ossetia's border.
France later tabled a US-backed draft resolution at the UN Security Council, demanding full compliance with the ceasefire and calling on Moscow to withdraw its forces to the positions held before the conflict.
Russia's UN ambassador, Vitaly Churkin, rejected the text. He objected to language on Georgia's territorial integrity, saying South Ossetia and Abkhazia did not want to be part of Georgia.
Some Russian troops have been seen leaving Gori, the largest Georgian town close to the South Ossetia border.
But BBC correspondents on the ground say there are still Russian artillery positions in place. In addition, there are Russian checkpoints close to the Georgian capital, Tbilisi.
The conflict broke out on 7 August when Georgia launched an assault to wrest back control of the Moscow-backed breakaway region of South Ossetia, triggering a counter-offensive by Russian troops who advanced beyond South Ossetia into Georgia's heartland.
Both sides have accused the other of violating the peace plan, and correspondents say there has so far been little sign of any large-scale withdrawal.
Following crisis talks in Brussels, Nato's 26 foreign ministers said in a joint statement that they could not have normal relations with Russia as long as Moscow had troops in Georgia.
No more use of force
Stop all military actions for good
Free access to humanitarian aid
Georgian troops return to their places of permanent deployment
Russian troops to return to pre-conflict positions
International talks about security in South Ossetia and Abkhazia
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