Delegation members said they hope to help the refugees return quickly and safely to their homes there.
State television showed the ambassadors touring the border area.
On Tuesday, the United Nations delegation will go to Maungdaw township by helicopter to visit refugee repatriation centers and ethnic Rakhine and Muslim villages, said Maung Maung, deputy director of the Information and Public Relations Department of Rakhine state.
"In order to have accountability there must be a proper investigation", Britain's United Nations ambassador Karen Pierce told reporters, after envoys had visited the Rohingya refugee camps in Bangladesh and also Rakhine.
Myanmar's de facto leader Aung San Suu Kyi pledged investigations if credible evidence was provided and military chief Min Aung Hlaing vowed "harsh action" over sexual violence during separate meetings with Security Council envoys in the country's capital Naypyitaw on Monday, diplomats said.
She also suggested that the delegation meet with various communities and civil society organizations in Myanmar.
TRT World 's Shamim Chowdhury has more.
"We are not asking Myanmar government something new".
"A few months ago when the violence intensified again we were kind of kicking ourselves because the film wasn't finished", said Zine.
Myanmar State Counselor Aung San Suu Kyi has reiterated the government's readiness to receive back displaced persons fleeing Rakhine conflict to Bangladesh after verification, calling for cooperation with the Bangladesh side to expedite the repatriation process, according to the foreign ministry Tuesday.
Bangladesh Prime Minister Sheikh Hasina on Monday urged the UN Security Council to press Myanmar to take back hundreds of thousands of its Rohingya nationals even as she called on India along with Russia, China and Japan to play a stronger role in resolving the refugee crisis. UNSC President Gustavo Adolfo Meza Cuadra Velasqez led his team at the meeting. "We're trying to tell the story of what's going on there and it's been a hidden genocide for decades".
The U.N. refugee agency and Bangladesh recently finalized a memorandum of understanding that said the repatriation process must be "safe, voluntary and dignified, in line with global standards".
The delegation also had comprehensive discussions with Myanmar delegation, led by U Kyaw Tint Swe, Minister at the Office of the State Counselor.
"I do not see any resistance from China and Russian Federation".
The government said its forces were engaged in a legitimate security campaign in response to a string of Rohingya insurgent attacks on the security forces.
In New York, U.N. deputy spokesman Farhan Haq noted at a briefing that "around 500,000 Rohingya still live in Rakhine, facing continued discrimination and marginalization, including around 130,000 men, women and children who are trapped in appalling conditions in camps".
The council adopted a formal statement in November - a move that requires consensus by the 15-member body - that asked Myanmar to ensure no "further excessive use of military force" and to allow "freedom of movement, equal access to basic services, and equal access to full citizenship for all". "This is the reality that must be changed if refugees are to be reasonably expected to return".
"The situation can not remain without a solution and the message that we are conveying to Myanmar, to refugees themselves, to the rest of the world, (is) that we are determined to find a solution to this crisis", al-Otaibi said after the delegation wrapped up its three-day visit.