Pakistan's defense secretary, Tariq Waseem Ghazi, and his Indian counterpart, Shekhar Dutt, opened the two-day talks on Tuesday in New Delhi.
The two sides are discussing a proposal for a troop withdrawal from the glacier. India says the present troop positions should first be marked on a map and on the ground as evidence in case the area is reoccupied after a deal. Pakistan opposes the marking, saying it would legitimize Indian occupation of the strategic glacier in 1984.
The glacier region has been peaceful since late 2003, when India and Pakistan signed a ceasefire in Kashmir.
On Tuesday, India announced that it is unilaterally releasing 59 Pakistani fishermen arrested last year after illegally crossing into its waters. A Foreign Ministry statement says they are being released as a goodwill gesture.