"The meeting between Kadhafi and Mubarak focused on the Darfur talks being held in Abuja and the means of ensuring that they are successful," Mubarak spokesman Suleiman Awad told reporters.
The Sudanese government and rebel groups from Darfur are engaged in a new round of peace negotiations in Nigeria in a bid to end the 30-month-old civil war which has left hundreds of thousands dead and millions displaced.
But the talks have stalled as both sides continue to trade accusations over ceasefire violations, and the main rebel group is split over participation in the negotiations.
Kadhafi, who has made Africa the priority of his foreign policy, has often taken the lead in mediating attempts between the rebel factions in the western Sudanese region and Khartoum.
Kadhafi was in Cairo to attend Mubarak's swearing-in ceremony, accompanied by Libyan Foreign Minister Abdelrahman Shalgam and several other senior officials.
Kadhafi and Mubarak are longest-serving leaders in the Arab world, with 36 and 24 years in power respectively.