The ministers arrived as representatives of the Arab League, the first time the 22-member group has sent a delegation to Israel. The Arab League peace plan envisions full recognition of Israel in return for evacuation of lands captured in the 1967 Middle East war.
"We are extending a hand of peace on behalf of the whole region to you, and we hope that we will be able to create the momentum needed to resume fruitful and productive negotiations" between Israel and the Palestinians and the rest of the Arab world, Jordan's foreign minister, Abdul-Ilah Khatib, said at a news conference with Israeli President Shimon Peres.
Egyptian Foreign Minister Ahmed Aboul Gheit urged Israel consider the Arab plan seriously. "We hope that upon our return, we would also convey to the Arab League ... the responses of Israel and I hope that such responses will be positive," he said.
The visit, a day after the maiden voyage of new Mideast peace envoy Tony Blair, is part of a flurry of diplomatic efforts meant to restart peace talks after a seven-year lull.
Egypt and Jordan both have peace treaties with Israel and have sent their leaders to the country before, but never on behalf of the Arab League, which has traditionally been hostile toward the Jewish state.
Foreign ministry spokesman Mark Regev said the visit was historic.
"This is the first time that a delegation is coming here under the auspices of the Arab League," he said. "In the past, the Arab League has opposed dialogue, normalization and any contact with Israel and this is the first time the Arab League has authorized a delegation to visit Israel."
The Arab League asked Jordan and Egypt to take the lead in pushing forward their newly revived peace plan, which offers a comprehensive peace agreement in exchange for Israel's withdrawal from all territories captured in 1967.
Israel rejected the plan when Saudi Arabia first proposed it in 2002, at the height of the Palestinian uprising. But it softened its resistance after moderate Arab states endorsed the plan again in March, sharing their concerns about Iran's growing influence.
Israel has welcomed the plan as a basis for negotiations, but raised concerns about certain aspects. Israel rejects a full withdrawal from the West Bank and east Jerusalem. It also objects to the plan's apparent call for the return of Palestinians who became refugees in the 1948 Mideast war and their descendants. Israel says a large-scale return of refugees would destroy the country's Jewish character.
Moderate Arab countries and the West have been pushing for renewed Israeli-Palestinian peacemaking since Gaza fell to Hamas, a group that refuses to recognize Israel's right to exist and has killed more than 250 Israelis in suicide bombings.
Palestinian President Mahmoud Abbas ejected Hamas from government after the Gaza takeover and set up an emergency Cabinet of loyalists that has Western and moderate Arab backing.
Israel has welcomed Abbas' government and made a series of confidence-building gestures, while saying it is too early to resume negotiations on a final peace deal.
The choice of the city of Helsinki is not incidental as the capital of Finland had hosted US-Soviet negotiations on the limitation of nuclear stockpiles in 1969