The European Union has said talks between Serbia and Kosovo are "back on track."

Kosovo's Prime Minister Avdullah Hoti and Serbia's President Aleksandar Vucic, took part in a video call on Sunday which was mediated by EU foreign policy chief Josep Borrell.

Kosovo declared itself independent in 2008, but Serbia has never recognised its independence.

Five EU members - Spain, Romania, Cyprus, Greece and Slovakia - are among other countries not to recognise Kosovo's independence.

After the meeting, EU special envoy, Miroslav Lajcak, said the two leaders would hold further discussions in person in Brussels next week.

"The EU-facilitated dialogue on [a] comprehensive normalization of relations between Serbia and Kosovo is back on track after 20 months," said Lajcak after the end of the virtual meeting.

"We agreed on the main elements of the process. We also agreed on the agenda of our next meeting that will take place this coming Thursday, in Brussels, in person. I want to thank our partners for their constructive engagement today," Lajcak said.

Earlier this month, Serbia and Kosovo agreed to reopen dialogue following a video summit hosted by French President, Emmanuel Macron, and German Chancellor, Angela Merkel.

At the start of Sunday's meeting, the EU's Borrell, who chaired the talks with Lajcak, called for "political courage" from the two sides, saying the current situation hampered economic progress and risked instability.

"These talks will require political courage from both sides, will require commitment and engagement in the spirit of compromise and pragmatism," he said.

"It has never been easy to find solutions to problems that have been so lasting and so painful but this is why we are here today - to try again."

Both are keen to join the EU and have come under increasing pressure from several European nations to resume talks.