Prime Minister Justin Trudeau said starting Dec. 1, Canada would scrap rules obliging Mexican visitors to obtain visas. The former Conservative government imposed the restrictions in 2009 to stop what it said were bogus asylum claims.
In return, President Enrique Pena Nieto said Mexico would allow expanded imports of Canadian beef starting in October, ending 13 years of restrictions imposed after a case of mad cow disease was discovered in Canada.
The men stressed their desire to deepen ties between the two nations, which along with the United States are members of the North American Free Trade Agreement. Both countries send the vast majority of their exports to their powerful neighbor.
But the future of NAFTA could be uncertain after the U.S. election, which looks set to pit Republican Donald Trump against Democrat Hillary Clinton. Trump says he wants to tear up or renegotiate the deal while Clinton has taken a populist tack on free trade during her campaign.
Trudeau said the importance of ties between Canada and Mexico could not be overstated.