"Myanmar has made a proposal to take back the Rohingya refugees", the minister told reporters.
"The access we have in northern Rakhine state is unacceptable", Mark Lowcock, head of the United Nations humanitarian office, told reporters in Geneva.
The lack of humanitarian access granted by Myanmar's government to Rakhine state, where over half a million Rohingya Muslims have fled violence, was "unacceptable", the United Nations said on Friday.
Earlier, Bangladesh and Myanmar had agreed to form a joint working group, which will draw up plans for the repatriation process of Rohingya refugees.
"Half a million people do not pick up sticks and flee their country on a whim", Lowcock added, stressing that the scale of the exodus was evidence of a severe crisis in northern Rakhine.
"The Rohingya fled to Bangladesh without any legal documents and it is hard to prove their identity", he told AFP.
Haque, who also met National Security Advisor Ajit Doval Thursday, said they discussed all aspects of the issue, with the continuing influx of Rohingya refugees from Mynamar figuring "prominently".
On India's position that Rohingya pose a security threat, Haque said, "Not that it always becomes (a security threat), depends on how you manage it". It has not moved into a security area.
The Bangladesh Foreign Secretary said there is a tendency to view such issues from the prism of radicalisation, but that obfuscates the fact that it is above all a humanitarian issue, involving women and children who "need support".
Bangladesh has garnered worldwide praise for its generosity towards Rohingya people, but those who took refuge in India do not get sufficient attention from the world.
Addressing a joint press event, Tusk said the two sides wanted de-escalation of tensions and full adherence to worldwide obligations in Myanmar and access of people to humanitarian aid. The predominantly Buddhist Myanmar considers them Bangladeshi, but Bangladesh says they're Burmese.
"India remains deeply concerned at the situation in Rakhine state of Myanmar".
Prominent human rights groups have reported documented cases of systematic attacks by the Myanmar military and Buddhist extremists against Rakhine's Muslim population, including random shootings, rape and arson attacks. We call for implementation of recommendations of the (Kofi Annan-led) International Rakhine Advisory Commission to tackle the root cause of this crisis.