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Chancellor Angela Merkel (CDU) congratulated the new US President Joe Biden during a phone call on his inauguration.
Government spokesman Steffen Seibert announced on Monday evening.
Merkel Biden also assured Germany's cooperation on international tasks.
The Chancellor and the President agreed that increased international efforts were necessary to deal with the corona pandemic.
Merkel had welcomed the US return to the World Health Organization (WHO) and to the Paris climate agreement, Seibert added.
During their phone call, Merkel and Biden also spoke about foreign policy issues such as the situation in Afghanistan and Iran, as well as trade and climate policy.
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The Chancellor also invited Biden to visit Germany as soon as the pandemic situation allowed.