Machar said his group wants to see democracy, pluralism, free elections, and good governance take hold in South Sudan.
Thousands are believed killed, and more than a half-million people have been driven from their homes by the fighting in South Sudan. A cease-fire signed by government and rebel delegations in Ethiopia 10 days ago has largely held, despite each side accusing the other of violations.
More talks are scheduled to begin on February 7th.
Machar is a political rival of the president, and has announced plans to challenge him in the next elections. Kiir fired him as vice president in July, about five months before the fighting began.