President Cyril Ramaphosa has left Zambia for the Democratic Republic of Congo after a successful working visit in which he and his counterpart Edgar Lungu held bilateral talks on cooperation, political and security developments in the region and continent, as well as global issues of mutual concern, his office said on Friday.

Ramaphosa and Lungu witnessed the signing of an agreement on establishing a bi-national commission aimed at promoting and enhancing cooperation in various sectors of government and coordinating initiatives between South Africa and Zambia's public and private sectors. 

The commission will be chaired jointly by the two presidents.

Ramaphosa is travelling with international relations and cooperation minister Lindiwe Sisulu, state security minister Dipuo Letsatsi-Duba and other senior government officials.

He is due back in South Africa later on Friday.