The meeting of French, German, Russian and Ukrainian foreign ministers on Sunday was difficult but necessary in view of the on-going violence in eastern Ukraine, Xinhua quoted Steinmeier as saying.
Steinmeier said the foreign ministers will now report back to their governments and decide on future course of action.
The meeting addressed issues such as the humanitarian situation in Ukraine, foreign aid, ways to re-start a political process and a possible ceasefire, and also measures to improve control at the Ukrainian-Russian border.
In an interview with German public radio station Deutschlandfunk Sunday, Ukrainian Foreign Minister Pavlo Klimkin stressed that Ukraine does not refuse to take Russian aid.
"We need all the humanitarian assistance that corresponds to Ukrainian legislation," said Klimkin, adding that Russia should hand over control over its aid convoy completely to the International Committee of the Red Cross at the Ukrainian-Russian border.