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The US and Cuba are holding their highest-level talks in decades in the Cuban capital, Havana, the BBC reported.

The two days of talks are part of a thaw in relations between the two rivals announced last month by US President Barack Obama and his Cuban counterpart, Raul Castro.

A US official described the first day as "productive and collaborative."

The talks, which are focusing on migration and restoring full diplomatic ties, resume on Thursday.

The US delegation is led by Roberta Jacobson, assistant secretary of state and the top US diplomat for Latin America. The last time someone of her level of seniority visited Cuba was 35 years ago.

Her deputy, Alex Lee, said: "The productive and collaborative nature of today's discussion proves that despite the clear differences that remain between our countries, the United States and Cuba can find opportunities to advance our mutually shared interests."

Cuban foreign ministry official Josefina Vidal criticised US migration policies but said Cuba aspired to have a normal relationship with the United States "in the broader sense but also in the area of migration."

The talks came only hours after Mr Obama urged Congress to seize the chance to end the US trade embargo against Cuba.