A 12-member team from the Saudi-backed government headed by Foreign Minister Khaled al-Yamani left Riyadh early Wednesday, sources told AFP, a day after rebel delegates landed in Stockholm accompanied by the UN peace envoy.
The first Yemen talks since 2016 are widely seen as the best chance yet for peace, as the international community throws its weight behind efforts to resolve a conflict that has pushed the Arab world's poorest country to the brink of famine.
The delegation had delayed its departure until the rebels had arrived in Stockholm after they failed to show up for the last UN bid to convene peace talks in September, sources close to the government told AFP.
On that occasion, the rebels complained they had received insufficient guarantees of safe passage through the blockade enforced by a Saudi-led coalition since March 2015.
On Wednesday, a half-dozen members of the rebel delegation could be seen on the grounds of the venue for the talks, the Johannesbergs Castle -- a large estate with a golf course in the countryside 20 kilometres northeast of Stockholm's Arlanda airport.
Bundled up against the wintry cold, rebel delegates could be seen chatting and walking on the grounds, which were cordoned off by police.
The rebels' arrival followed two major confidence-boosting gestures -- a prisoner swap deal and the evacuation of 50 wounded insurgents from the rebel-held capital for treatment in neutral Oman.
The United Arab Emirates, another key backer of the Yemeni government, said the planned talks offered a "critical opportunity" to bring peace to a country in the grip of what the UN has described as the world's worst humanitarian crisis.
At the same time, he called on rebel fighters to remain "vigilant against any attempt at a military escalation on the ground".
The announcement of a deal on Tuesday to swap hundreds of detainees was hailed by the International Committee of the Red Cross as "one step in the right direction towards the building of mutual trust".
The ICRC will oversee the exchange after the first round of talks in Sweden.
On the government side, they include former defence minister Mahmoud al-Subaihi, who has been held by rebels since they overran the capital in late 2014, and President Hadi's brother Nasser, a general and former senior intelligence official.
Thousands of prisoners have been captured by both sides in the grinding war of attrition that has devastated Yemen at a cost of nearly 10,000 lives since the Saudi-led coalition intervened in March 2015, according to World Health Organization figures.
Human rights groups put the death toll far higher.
The resulting humanitarian crisis, already the world's worst, will deteriorate in 2019, the UN said on Tuesday, warning the number of people needing food aid is set to jump by four million.
Roughly 75 per cent of Yemen's population will need humanitarian assistance in 2019, UN humanitarian chief Mark Lowcock told reporters in Geneva.
If the negotiations in Sweden show results, "it is possible that we could find by the second half of the year that the extreme edge could get taken off the suffering of those people who have no form of income."
International support for the peace bid has been spurred by UN warnings that 14 million Yemenis are at risk of famine.
The Norwegian Refugee Council on Wednesday called for the two sides to put a halt to the fighting.
"Yemen needs an immediate ceasefire and concrete steps to restore public services," it said in a statement.
(With inputs from agencies.)