Kamal Kharrazi's visit is the most high-profile since April 2003
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Iran has promised to tighten security on its border with former enemy Iraq, and has denied that it has any role in supporting insurgents.
The vow came from Iran's Foreign Minister Kamal Kharrazi, on his first visit to Iraq since the fall of the Saddam Hussein regime in April 2003.
Both nations suffered thousands of casualties during a war in the 1980s.
The visit came amid a wave of violence, as Mosul came under mortar fire and a string of assassinations continued.
Both Sunni and Shia religious, political and military leaders have been targeted.
More than 400 people have been killed by insurgents in the three weeks since Iraq's new government was unveiled on 28 April.
'Not approved'
The promise to control the borders, Mr Kharrazi said, was part of Iran's commitment to support Iraq's new government "by all possible means".
Some Iranians have promised to attack US troops in Iraq
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Militants, he said, had crossed from Iran into Iraq, confirming frequent accusations from the US and Iraqi governments.
But he added: "We are not saying they are approved by the Iranian government."
In talks with senior Iraqi government figures including President Jalal Talabani and Prime Minister Ibrahim Jaafari, Mr Kharrazi promised that his country would not interfere with Iraq's government.
"Iraqis are in charge of their own affairs," he said. "Any interference would be an insult to the Iraqi people."
Shia-majority Iran has historically had close ties with many of Iraq's senior Shia politicians, including the Daawa party and the Supreme Council for Islamic Revolution in Iraq (Sciri).
Mr Jaafari leads the Daawa party, while Sciri senior official Baqir Solagh is interior minister.
Tehran has frequently been accused of trying to influence Iraqi politics, either through these relationships or via covert means.