Updated

President Obama on Tuesday urged the Israelis and Palestinians to take concrete steps toward restarting peace talks, in between meetings in New York City with Israeli Prime Minister Benjamin Netanyahu and Palestinian President Mahmoud Abbas.

In stern remarks, Obama said Israel needs to do more than talk about restraining settlement activity in Palestinian territory. He said the Palestinians need to do more to improve security. He spoke after meeting separately with the two leaders, and before holding a three-way joint meeting -- the first of his presidency.

Obama bemoaned what he called a pattern of "tentative" and often reversible steps toward peace and pledged to press forward toward a two-state solution, saying the issue must be approached with a "sense of urgency."

"The United States is committed to a just, lasting and comprehensive peace in the Middle East," Obama said. "It is past time to talk about starting negotiations. It is time to move forward."

He said special envoy George Mitchell will meet with Israeli and Palestinian negotiators next week, and that Secretary of State Hillary Clinton will report back to him in mid-October.

Mitchell said after the joint meeting that progress had been made. Netanyahu reportedly said that both sides agreed that they should restart peace talks soon, with no preconditions.

Obama held the talks on the sidelines of the United Nations General Assembly session.