Hakimullah Mehsud met only journalists from his clan at a location which has not been disclosed. Five Mehsud reporters based near his stronghold in the tribal region of South Waziristan attended the clandestine meeting on Sunday.
It was held on condition that it could be reported only on Monday.
Very few other journalists were invited - those who were did not go for security reasons.
The Taliban commander's appearance in public will end weeks of speculation on the part of Pakistani and US intelligence officials that he was in fact dead, our correspondent says.
Rumours of his demise persisted despite the fact that he had spoken to the BBC and other media outlets by telephone on a number of occasions in recent months.
Hakimullah Mehsud was flanked by senior Taliban commanders Qari Waliur Rehman and Qari Hussain - the man reputed to be responsible for training suicide bombers.
A number of senior militants have been killed in recent weeks
One of the journalists who was at the meeting told the BBC that all the militant leaders appeared to be in good health.
Hakimullah Mehsud said his group would avenge the killing of former Taliban chief Baitullah Mehsud by striking back at Pakistan and the US.
He said he would retaliate against recent efforts on the part of the US and Pakistani security forces to target senior Taliban figures.
A number of senior militant commanders have been killed in recent missile strikes along the troubled border with Afghanistan.
Hakimullah Mehsud's brother was killed in a clash with security forces only last week.
The recent spate of strikes on Taliban commanders follows the death of Baitullah Mehsud in a US missile attack in the tribal region of South Waziristan on 6 August.
After some weeks the Taliban acknowledged his death and put Hakimullah Mehsud, the young and feared commander from South Waziristan, at its helm.
Correspondents say a series of blasts across the country's north-west in the past month show that the Taliban appear to be reasserting themselves after a series of setbacks.
This public appearance by Hakimullah Mehsud appears to be part of an effort to prevent the Pakistani Taliban from disintegrating, our correspondent says.
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