A possible meeting between the two leaders has been the subject of intensified discussions between Warsaw and Kyiv over the past week.
"We are working to ensure this meeting takes place as soon as possible," Ambassador Vasyl Bodnar told private broadcaster RMF FM on Friday.
"We would like it to take place this year and are working on the agenda of such a visit," he added.
Bodnar said Ukraine is now waiting for a response from Poland.
Key topics for the talks would include security, ongoing defence-industry cooperation, historical issues and efforts to exhume victims of the 1940s Volhynia massacres, he said.
On Monday, Zelensky said he had invited Nawrocki to visit Ukraine and would travel to Poland himself if he received an invitation.
Also on Monday, Marcin Przydacz, head of Nawrocki’s International Policy Bureau, said in a social media post that the date for the meeting was being arranged.
On Wednesday, he said the talks would take place in Warsaw.
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Source: PAP, IAR