"We can see from today that North Korea's missile technology has advanced far more than we had previously thought".
"It's presumed to be a new ICBM", a Seoul official was quoted as saying by Yonhap News Agency.
A senior North Korean official used the parade to accuse the United States of "creating a war situation" with the recent dispatch of warships to the region.
North Korea, still technically at war with the South after their 1950-53 conflict ended in a truce but not a treaty, has on occasion conducted missile or nuclear tests to coincide with big political events and often threatens the United States, South Korea and Japan.
Pence, who has called the North's failed missile test a day earlier "a provocation", said the USA and its allies will achieve its objectives through "peaceable means or ultimately by whatever means are necessary" to protect South Korea and stabilize the region.
But the North's Workers' Party of Korea Vice Chairman Choe Ryong-hae said in a speech Saturday that Pyongyang is ready to respond to the USA with "an all-out war" including nukes.
In another report by CNN, North Korea's new missiles and submarines were detailed despite China's disapproval. The North also a year ago launched a long-range rocket that put a satellite into orbit, which Washington, Seoul and others saw as a banned test of missile technology.
An official from South Korea's Defense Ministry couldn't immediately confirm whether any of the rockets represented a new type of ICBM. Also on display was a new generation of an intermediate-range missile, called the Pukguksong-2, as well as a new version of a submarine-launched ballistic missile.
Meanwhile, North Korea's Vice Foreign Minister Han Song Ryol accused Trump of fanning tensions between the two countries with his "aggressive" tweets, and he said Trump was "becoming more vicious and more aggressive" than previous presidents.
He said: " This latest missile test just fits into a pattern of provocative, destabilising, and threatening behaviour on the part of the North Korean regime.
China, whose foreign minister met his French counterpart in Beijing on Friday, has said it wants to cooperate with Russian Federation to calm tension over North Korea as quickly as possible and bring all parties to the negotiating table.
Saturday's parade combined with Sunday's failed missile launch made a sixth nuclear test increasingly likely, and if one was carried out, China would be compelled to support new sanctions against North Korea, the Global Times, an influential tabloid published by China's Communist Party paper said in an editorial.
A White House foreign policy adviser traveling with Pence said no USA response to the missile launch was expected because there was no need for the U.S.to reinforce the failure.
Despite speculation that the country would launch a nuclear test in celebration of its founder's birth on Saturday, North Korea declined to do so. The country conducted two nuclear tests past year.
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