The talks took place at the Orange Order Headquarters in east Belfast on Thursday evening, amid ongoing efforts to find a resolution to contention in north Belfast.

Tens of thousands of Orangemen and their supporters are expected in the city on Saturday 29 September for a special march to Stormont to mark the 100th anniversary of the signing of the Ulster Covenant.

Mr Robinson led a DUP delegation into the discussions, which included North Belfast MP Nigel Dodds.

Ulster Unionist leader Mike Nesbitt, senior representatives of the Grand Orange Lodge of Ireland, and the North and West Belfast Parades Forum also attended in a show of unionist and loyalist unity.

Speaking exclusively to UTV Live Tonight, Mr Robinson described the talks as "a meeting of minds".

There was full agreement amongst all of the representatives who were there and we are looking forward to a fantastic celebration on the 29th.

Peter Robinson

Mr Robinson continued: "It's an opportunity for people right across Northern Ireland to be part of what was the most important and vital event during the course of the Home Rule crisis - the signing of the Ulster Covenant."

He said he hoped there would be respect right across the community for the event and that people wouldn't attempt to mar it or spoil it in any way.

Concerns remain surrounding the commemorative march after violence erupted following a parade past St Patrick's Church in the Donegall Street area last month.

Loyalist bands defied a ruling by the Parades Commission that only a single drumbeat should be played when passing the church during a Royal Black Institution parade.

It came after loyalist band members were filmed marching in circles outside the church on the Twelfth of July.

They were accused of playing the sectarian Famine Song, but later claimed the tune had been the Beach Boys track Sloop John B.

Earlier this month, the Royal Black Institution issued an apology for any offence the conduct caused to the clergy and parishioners of St Patrick's Church.

On Thursday, Mr Nesbitt said the focus should be on the real issue - the centenary of the signing of the Ulster Covenant.

He described the occasion as "a moment of political and cultural significance for the United Kingdom - not just for Northern Ireland."

The Parades Commission has deferred its determination on the parade until next week.

However, Mr Robinson said they should "stay out of it." He said that he didn't feel the need for any further involvement from the parades watchdog.

"The Orange Order have acted in a way everyone should welcome.

"I think the Parades Commission would do well to stay out of it," he said.

The Orange Order said bands taking part in the event will only play hymns when marching past St Patrick's Church - however Sinn Féin has called for its leaders to hold face-to-face talks with residents.

Local MLA Gerry Kelly said: "The issue here is around the area of Carrickhill."

He said the refusal to talk to residents had offended them.

"It's interesting because the residents are asking for respect as well - and the Unionists are asking for respect.

"They've said on numerous occasions recently, 'Let's have mutual respect.' If they want mutual respect, surely it calls for mutual discussion?"