The meeting, which lasted nearly two hours, was described by officials as introductory in nature.
Duda's office posted photos and a video of the encounter, captioned: "The homeland is our common great cause."
Ahead of the meeting, presidential aide Andrzej Dera told reporters the conversation would be "general in nature," with more detailed, technical discussions to follow in the coming weeks to brief the president-elect on key matters of state.
Nawrocki, a conservative historian and political newcomer backed by the right-wing opposition Law and Justice (PiS) party, narrowly won the June 1 runoff election, defeating centrist Warsaw Mayor Rafał Trzaskowski.
He is set to be sworn in on August 6.
Duda is stepping down after serving two five-year terms. He was constitutionally barred from running again.
(gs)
Source: PAP, IAR, prezydent.pl