The meeting took place between 83 South Koreans and 178 North Koreans at the Diamond Mountain resort in North Korea, the New York Times reported.
The family reunions were arranged by the rival governments in a step toward rebuilding trust and reuniting families split up by the 1950-53 Korean War.
The reunions were scheduled to last through Wednesday and another reunion of more than 400 people was scheduled to take place at a future date, Yonhap News Agency reported.
Son Ki-ho, 90, said he was excited to see the 2-year-old daughter he left behind when he fled the North.
"The image of my daughter waving her hands to me when we parted is still vivid in my eyes," he said.