Speaking to reporters afterwards, Kosiniak-Kamysz described the talks as "very constructive" and an opportunity to "build common ground" on security policy.
He said a "shared sense of purpose" on security was needed at all centres of power, including the government, parliament and presidency, amid security threats abroad.
The talks covered the latest developments in the security environment and cooperation with the United States and other allies, he said.
Kosiniak-Kamysz said there were no differences between the government and the president over efforts to establish a permanent US military base in Poland.
He praised Nawrocki’s relationship with President Donald Trump, adding that the government was prepared to build and finance the infrastructure needed to host American troops.
Kosiniak-Kamysz also said the meeting touched on intelligence Nawrocki had received from the government on Thursday following talks with CIA Director John Ratcliffe.
Kosiniak-Kamysz is due to meet US Defence Secretary Pete Hegseth in Washington next week. The two are expected to discuss a proposed new US military base in Poland and security challenges linked to Russia’s war in Ukraine.
Friday's meeting came after a series of recent incidents involving drones near Poland’s border with Ukraine.
On Thursday, Prime Minister Donald Tusk warned of intensified Russian attacks on Ukraine in the weeks ahead. He also said intelligence assessments indicated that Russia could seek to carry out hybrid attacks involving drones and missiles against NATO countries supporting Ukraine, including Poland.