Madhav presented a bouquet to Ansari during their meeting at the Vice President House.
Sources said the meeting was sought by Madhav.
Madhav was at the centre of controversy when he had tweeted questioning the vice president's absence at the Yoga day celebrations at Rajpath. The tweet was subsequently withdrawn.
Asked about the controversy and the accusation he was "targeting" the vice president, Madhav had said, "As far as the tweet is concerned, it was withdrawn and the matter is closed there and ends there."
The government had also apologised for Madhav's criticism of Ansari's absence at the Yoga event where Prime Minister Narendra Modi was the chief guest.
Union Minister Shripad Naik had cited protocol to say that the vice president can't be invited to an event where the prime minister is chief guest.
"Unknowingly something happens, we apologise for that. It should have been avoided. It's a mistake, he (Madhav) agrees, he apologised. He withdrew his statement," Naik said when asked to comment on Madhav's controversial tweet.
Naik is the Minister of State for AYUSH -- the ministry that organised he International Day of Yoga event at Rajpath.