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North and South Korean troops exchanged fire along their tense border on Sunday, the South鈥檚 military said, the first such incident since the rivals took unprecedented steps to lower front-line animosities in late 2018.

Violent confrontations have occasionally occurred along the border, the world鈥檚 most heavily fortified. While Sunday鈥檚 incident is a reminder of persistent tensions, it didn鈥檛 cause any known casualties on either side and is unlikely to escalate, observers said.

The exchange of fire came a day after North Korea broadcast video of its leader, Kim Jong Un, reappearing in public after a 20-day absence amid intense speculation about his health.

KCNA said Mr. Kim attended Friday鈥檚 ceremony marking the completion of a fertilizer factory near Pyongyang along with senior officials. State TV showed Mr.聽Kim smiling and walking around factory facilities.

The Joint Chiefs of Staff in Seoul said in a statement that North Korean troops fired several bullets at a South Korean guard post inside the border zone. South Korea responded with a total of 20 rounds of warning shots on two occasions before issuing a warning broadcast, it said.

South Korea suffered no casualties, the military said. Defense officials said it鈥檚 also unlikely that North Korea had any casualties, since the South Korean warning shots were fired at uninhibited North Korean territory. The North鈥檚 official Korean Central News Agency, or KCNA, did not immediately report about the incident.

A preliminary South Korean analysis showed that North Korea鈥檚 firing was probably not a calculated provocation, though Seoul will continue examining whether there was any motivation for the action, a South Korean defense official said. He spoke on condition of anonymity, citing department rules.

U.S. Secretary of State Mike Pompeo also said it was believed that North Korea's firing was not intentional.

鈥淲e think those are accidental,鈥� Mr.聽Pompeo said on ABC's 鈥淭his Week.鈥� 鈥淪outh Koreans did return fire. So far as we can tell, there was no loss of life on either side.鈥�

Farming activities around the North Korean area where the firing occurred continued throughout Sunday and North Korea鈥檚 military didn鈥檛 display any other suspicious activities after the gunfire, the South Korean defense official said. He said there was thick fog in the area at the time of the incident.

Later Sunday, South Korea sent a message to North Korea to try to avoid an escalation, but the North did not immediately reply, according to South Korea鈥檚 military.

Meanwhile, North Korean leader Mr.聽Kim did not undergo surgery or any other medical procedure, a South Korean official said Sunday, amid speculation about his health that continues to linger even after he reappeared publicly in recent days.

While North Korean video showed a smiling Mr.聽Kim moving around Friday, cutting a red ribbon and smoking quelled intense rumors that he might be gravely ill or even have died, some media outlets and observers still raised questions about his health, citing moments when his walking looked a bit stiff at the factory.

A senior South Korean presidential official told reporters Sunday that the government had determined that Mr.聽Kim did not have surgery or any other procedure, according to the presidential Blue House. The official, whose name wasn't disclosed by the Blue House, refused to provide the basis for the intelligence assessment.

South Korea has a spotty record in confirming developments in North Korea, one of the world鈥檚 most secretive countries. But when rumors about Mr.聽Kim鈥檚 health surfaced in recent weeks, the South Korean government steadfastly dismissed them as baseless and maintained there were no unusual activities in the North.

Mr.聽Kim earlier vanished from the public eye after presiding over a Politburo meeting of the ruling Workers鈥� Party on April 11 to discuss the coronavirus. Speculation about his health began swirling after he missed an April 15 event commemorating the birthday of his grandfather and state founder, Kim Il Sung, something he had never done since inheriting power upon his father Kim Jong Il鈥檚 death in late 2011.

The Korean Peninsula remains split along the 155-mile-long, 2.5-mile-wide border called the Demilitarized Zone. It was originally created as a buffer after the end of the 1950-53 Korean War. But unlike its name, an estimated 2 million mines are peppered inside and near the DMZ, which is also guarded by barbed wire fences, tank traps, and combat troops on both sides.

Under a set of agreements to reduce border tensions reached in September 2018, the two Koreas destroyed some of their front-line guard posts and began removing mines from the DMZ later that year. But the efforts stalled amid a deadlock in negotiations between Mr.聽Kim and President Donald Trump meant to convince North Korea to give up its nuclear arsenal. The diplomacy hasn鈥檛 made any headway since the second Kim-Trump summit in Vietnam in early 2019 broke down due to disputes over U.S.-led sanctions on North Korea.

Earlier this year, North Korea carried out a slew of missile and other weapons tests, but they were short-range and none posed a direct threat to the U.S. mainland.

The last time there was gunfire along the Korea border was in November 2017, when North Korean soldiers sprayed bullets at a colleague fleeing to South Korea. The defector was hit five times, but survived and is now living in South Korea. South Korea didn鈥檛 return fire.

Previously, the two Koreas traded gunfire along the DMZ numerous times, but no deadly clashes have occurred in recent years. A 2015 land mine blast that maimed two South Korean soldiers pushed the Koreas to the brink of an armed conflict. South Korea blamed North Korea for the explosion.

This story was reported by The Associated Press.