The U.S., South Korea and Japan will respond to a North Korean nuclear test with joint military drills, Japanese Prime Minister Fumio Kishida said Wednesday, as the countries’ leaders expressed concern about the DPRK’s continued weapons development.

Kishida’s remarks followed brief talks with U.S. President Joe Biden and South Korean President Yoon Suk-yeol on the sidelines of the NATO summit in Madrid. It was the first meeting between the nations’ leaders in nearly five years, as they look to boost trilateral cooperation in response to North Korea and other threats.