Naval forces of South Korea, the United States and Japan on Thursday kicked off a trilateral joint drill in waters off South Korea's southern island of Jeju, the defense ministry said.

The two-day drill, involving training in search and rescue operations and maritime interdiction operations, will mobilize destroyers, logistics support ships and antisubmarine helicopters, according to a statement made by the ministry last week.

Calling the drill of "a humanitarian nature," the ministry said it is a routine exercise launched by the three nations in 2008.

South Korea and the United States are set to stage a separate, three-day drill on June 23-25 in waters off the west coast of the Korean Peninsula.

According to the ministry, the drill will involve antisubmarine exercises, surface ship maneuvers and submarine detection exercises. The US aircraft carrier USS George Washington is expected to join the drill.