She then headed to Cheong Wa Da for dinner with President Moon Jae-in.
The minor opposition Bareun Future Party also urged the government to scrap the decision to allow Kim's visit.
Gen Kim's alleged role in past attacks has led to protests from conservative forces in South Korea. That why he's dispatching his own Kim Yo-Jong to the closing Olympic ceremony.
"Kim is in charge of South Korea affairs, which is why we are accepting him as we believe it would help improve inter-Korean relations and resolve the matter of denuclearisation", Mr Cho told Parliament.
North Korea sent a large delegation of athletes, coaches, support staff and cheerleaders to the Games, including North Korean leader Kim Jong Un's sister, Kim Yo Jong.
"With just a soft smile from Kim Yo-Jong [the sister of North Korean leader Kim Jung Un], the Director of Propaganda and Agitation for North Korea, the media forgot her regime's decades of human rights violations and militant provocations on the world stage", the US official said.
Her visit coincides with that of a sanctioned North Korean official, Kim Yong Chol, blamed for the deadly 2010 sinking of a South Korean navy ship that killed 46 sailors. And, while everyone else ate kalbi grilled ribs, Trump was served "grilled soft tofu with special marinade" to better fit her preferences.
Ivanka Trump speaks during an event at the White House in Washington, Feb. 14, 2018.
During his meeting with Ivanka Trump, who is considered by many to be a moderating influence on her father, Moon is expected to emphasize strong support for the USA alliance and perhaps also make the case for increased engagement efforts with North Korea.
The ministry on Friday also appeared to walk back previous claims in Seoul that Kim masterminded the attacks personally, though it stands by its conviction the attack on the Cheonan was executed by North Korea when Kim was head of military intelligence.
"We absolutely oppose a visit to the South by Kim Yong-chol, the main culprit of the Cheonan's sinking", one lawmaker said during a rally.
"There are limits to pinpointing those who were directly responsible", he said.
South Korea's decision on Thursday to allow in Kim Yong Chol, now sanctioned by the United States and South Korea, sparked protest from family members of the dead sailors and opposition parties.
The general is blacklisted under Seoul's unilateral sanctions against the North - meaning he is subject to an assets freeze - although he is not named in the UN Security Council's measures.
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