Bilateral relations, regional security and stability and peace talks in Yemen were among the major issues discussed by the two sides.
Zarif headed for Qatar on Saturday morning to attend Doha Forum 2018, a two-day forum which revolves around security, peace, mediation, economic pickup and regional developments.
Tehran and Doha have enjoyed growing relations during recent years.
Amid souring relations between Saudi Arabia and Qatar and sanctions imposed on Doha by Riyadh, Iran opened its borders to the Arab state.