US Secretary of State Rex Tillerson and Homeland Secretary John Kelly were the first high-ranking officials from the Trump administration to visit the country.
Earlier in the week, President Trump announced broad new plans to deport illegal immigrants living in the US.
It was over a year ago that Donald Trump launched his Presidential campaign by calling Mexicans drug dealers and rapists.
But today, President Trump sent his deputies to Mexico City to deliver some more diplomatic words.
Secretary of State Rex Tillerson and Homeland Secretary John Kelly met with Mexican President Enrique Pena Nieto and the Foreign Minister Luis Videgaray.
It was the first meeting between Mexico and senior officials from the new US government.
Mr Tillerson says the countries agreed on the need to work together to stop illegal migration across the US-Mexican border.
"We also reiterated our joint commitment to maintaining law and order along our shared border by stopping potential terrorists and dismantling the transnational criminal networks moving drugs and people into the United States"
But it wasn't just smiles and handshakes.
The meeting comes after President Trump earlier in the week announced broad new plans to deport illegal immigrants living in the US, as well as increasing patrols along the border.
Hundreds of people have already been deported under President Trump, and there are millions living illegally in the US that could be targeted.
The new guidelines from the Department of Homeland Security also say that illegal immigrants could be deported to Mexico, regardless of their nationality.
One Mexican official told the media that the meeting was hostile.
And Mexico's Foreign Minister Luis Videgaray says issues around migration needed to be resolved through dialogue and not unilateral actions.
"I would like to focus on the topic of migration. We have expressed to (both) secretaries Tillerson and Kelly, first of all, our concern over respect for the rights of Mexicans living in the United States, in particular, human rights. "
But US Homeland Secretary Kelly tried to ease Mexico's concerns.
Secretary Kelly says deportations would only focus on 'criminal elements', adding that everything would be done in close co-ordination with the government of Mexico.
"Let me be very, very clear. There will be no, repeat, no mass deportations. Everything we do in DHS will be done legally and according to human rights in the legal justice system of the United States."
Secretary Kelly also clarified that the US military would play no role in deportations.
"No, repeat, no use of military force in immigration operations. None."
But it seems Secretary Kelly and his boss might not be in agreement.
While his top officials were down in Mexico smoothing over ties, at the White House President Trump told reporters the deportations were a military operation.
"All of a sudden for the first time we're getting gang members out, were getting drug lords out. We're getting really bad dudes out of this country and at a rate that nobody has ever seen before. And they're the bad ones. And it's a military operation because, what has been allowed to come into our country, when you see gang violence that you've read about like never before, and all of those things, much of that is people that are here illegally. And they're rough and they're tough, but they're not tough like our people. So we're getting them out."
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