Larijani heading to the US to attend the 4th World Conference of Speakers of Parliament at the UN Headquarters in New York, made a brief stopover in Frankfort, IRNA reported.
During the phone conversation, the two officials reviewed bilateral relations, as well as regional and international issues.
Referring to the positive international atmosphere in the aftermatch of the nuclear deal struck on July 14, the German foreign minister said that the ground is prepared for further enhancement of relations with Iran.
Steinmeier expressed hope that in his upcoming visit to Tehran, he will take major steps to boost relations between Iran and Germany.
He described a recent visit to Iran by German Vice-Chancellor Zigmar Gabriel as very useful and positive.
Meanwhile, the Iranian Majlis speaker hailed Germany's role in the nuclear negotiations between Iran and world powers.
Larijani expressed hope that visits to Iran by German officials and delegations would lead to promotion of economic cooperation.