Yes, many times.
In 1993, the two sides signed a historic agreement known as the Oslo Accords, with American President Bill Clinton. They agreed to a peace deal based on the idea of 'land for peace'.
The two sides met many times in the 1990s and did make some progress, but those talks ended when more violence broke out in 2000.
The Israeli Prime Minister and Palestinian President met regularly throughout 2008, but those talks ended when the fighting in Gaza began.