The announcement came after a meeting in New York on Wednesday between Israeli Foreign Minister Gideon Saar, Moroccan Foreign Minister Nasser Bourita and the US ambassador to the UN.
The two countries established diplomatic relations in 2020 as part of the US-led Abraham Accords, through which several Arab states have normalised relations with Israel.
The countries' statements do not give a timeframe for when ambassadors will be in place.
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