"We discussed regional and global developments that have a role in peace in the world and in the region", Modi said in Ramallah, where he appeared alongside Palestinian President Mahmoud Abbas.
"I have once again reassured President Abbas that India is committed to upholding the interests of the Palestinian people".
PM Modi also recounted Indian tradition of "vasudev kutumbakam" and the true significance the concept had acquires especially in a globalized world of today.
The visit, which came weeks after Modi hosted Israeli Prime Minister Benjamin Netanyahu, was seen as an Indian effort to balance its strengthening ties with the Jewish state.
Earlier he met Prime Minister Rami Hamdallah and visited the Yasser Arafat Museum where he laid a wreath, the Aljazeera reported.
The fourth agreement was signed to establish a heritage center to empower Palestinian women. He was "warmly received by Prime Minister of Jordan (Hani Al-Mulki) in Amman", External Affairs Ministry spokesperson Raveesh Kumar tweeted.
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He gave the order in November after a gun and bomb attack on a mosque killed more than 300 people. He authorized chief of staff Mohamed Hegazy to use " brute force".
Abbas thanked Modi for India's support for various Palestinian projects, saying this will enhance bilateral relations and serve the Palestinian population.
This will be Modi's fourth meeting with Abbas.
On the occasion of the visit, India and the Palestinians signed six agreements concerning infrastructural development in the West Bank.
With Indian PM Modi's visit to Ramallah, are warmer India-Palestine Relations bothering Israel?
However, Modi's visit to Ramallah comes at a time when the USA has taken a stance to recognise the disputed territory of Jerusalem as the capital of Israel unilaterally while India chose to vote in favour of the UN General Assembly resolution opposing the move made by Washington. This time Modi skipped in a clear message that is de-hyphenating its ties with and Palestine.
Addressing the gathering, he said that it is after many years that the relationship between India and the countries of the Gulf region is so strong. India believes in a two-state solution in which both Israel and a future Palestinian state coexist peacefully. "In a gracious and personal gesture, the King invited Prime Minister Modi to his residence for the meeting", he said.