The two delegations will take part in the celebration of the 70th anniversary of "Victory Day" on Thursday in Pyongyang, state media agency KCNA reported, with Chinese Communist Party Politburo member Li Hongzhong leading the Beijing group.
Russia's Defence Ministry said it had been invited by its North Korean counterpart and would attend the Victory Day events.
The ministry posted a short video on its Telegram messaging app showing Shoigu being greeted by a North Korean military official on a red carpet at an airport's tarmac.
North Korea closed its border in early 2020 to all trade and diplomatic exchanges, even with its main economic and political partners China and Russia.
The United States has accused North Korea of providing military aid to Russia for the war in Ukraine, a claim that both Pyongyang and Moscow deny.
Persons:
Sergei Shoigu, KCNA, Li Hongzhong, Russian Federation Sergei Shoigu, Vedant Patel, Patel, Hyunsu Yim, Andrew Osborn, Simon Lewis, Lidia Kelly, Ed Davies, Raju Gopalakrishnan, Mark Heinrich, Sandra Maler
Organizations:
Russian, Defence, Chinese Communist Party, Russia's Defence Ministry, North Korean, Comrade, Russian Federation, European Union, United, . State Department, DPRK, Thomson
Locations:
SEOUL, MOSCOW, North Korea, Pyongyang, Beijing, Russian, Korean, China, Russia, North Korea's, United States, Ukraine, Moscow, Washington, Melbourne