Bashir on Saturday met with Mustafa Abdel Jalil, the chief of Libya's National Transitional Council (NTC).
The meeting was Bashir's first trip to Libya since the collapse of former Libyan dictator Muammar Gaddafi.
The visit comes despite an arrest warrant issued by the ICC for Bashir on charges of genocide in Darfur, a charge Sudan categorically rejects.
Human rights groups criticized the visit, saying that "Welcoming Bashir... raises questions about the NTC's stated commitment to human rights and the rule of law."
Abdel Jalil, who visited Khartoum in November, says weapons provided by Sudan helped Libya topple Gaddafi last year.
Khartoum-Tripoli relations were frosty during Gaddafi's rule because Sudan said the former Libyan ruler was supporting rebels in Darfur.
Libya is not a signatory to the ICC charter and is under no legal obligation to arrest Bashir.