The meeting, held in the Slovene coastal town of Strunjan, focused on bilateral topics and Croatia's efforts to enter the European Union, according to the Croatian Foreign Ministry.
Rupel and Grabar-Kitarovic exchanged opinions on meetings which the two countries' prime ministers and other senior officials had so far held as well as on texts of agreements which were being prepared.
They described bilateral relations as good and comprehensive.
The Croatian minister thanked Slovenia for its support to Croatia regarding Zagreb's efforts to open membership talks with the European bloc.
The Slovene official said that Croatia's integration with the EU should be perceived as a factor important for the stability and economic development of south-eastern Europe.