James Kelly, an assistant secretary of state, is due to stay in the North Korean capital Pyongyang until 5 October, though it is not yet clear if he will meet the country's leader, Kim Jong-il.
The charges against N Korea
Has material to make nuclear device
Is developing and selling long range missiles
Has a 1m-strong army, threatening S Korean border
Is regularly accused of human rights abuses
The US is being pushed by its Asian allies Japan and South Korea to re-engage with the North, which has signalled it wants to end its diplomatic isolation.
But US officials like Mr Kelly are thought to be sceptical that North Korea is genuine about reform, and it was unclear if his visit would lead to a breakthrough.
Relations between the two countries reached a low in January, when President Bush named North Korea as part of an "axis of evil", along with Iran and Iraq.
North's apology
Since then, North Korea has shown interest in renewing the dialogue with the US and has also made progress in improving relations with Japan and South Korea.
Kim Jong-il last month apologised to Japan as he admitted that North Korean agents abducted at least 13 Japanese citizens during the 1970s and 1980s.
That apology has paved the way for the two countries to start talks on normalising ties at the end of this month.
North Korea has also moved to improve relations with South Korea. The neighbours have begun work to construct cross-border road and rail links.
But some analysts are unconvinced the North is genuine about reform. They say it is more interested in ending its economic isolation and getting foreign aid.
Officials and experts in the US see Mr Kelly's three-day trip as a chance to find out whether Pyongyang is serious about resolving long-standing differences with the US.
US grievances
Mr Kelly, US assistant secretary of state for East Asian and Pacific affairs, was originally scheduled to visit Pyongyang in early July but the visit was postponed after a deadly naval clash between North and South Korea at the end of June.
The US envoy has publicly warned that relations cannot improve unless there is clear evidence from North Korea that it is committed to reform.
The US has accused Mr Kim of letting his people starve while the country maintains a huge military force.
The US is also concerned about the North's suspected development of weapons of mass destruction and its selling of Mr Kelly is due to return to Seoul on Saturday to brief officials and on Sunday he will stop over in Tokyo on his way back to Washington.