Polish Deputy Foreign Minister Marcin Przydacz and Duda's chief foreign policy adviser, Jakub Kumoch, also took part in the talks, Polish state news agency PAP reported.
Przydacz told reporters afterward that the meeting "focused on ways of further supporting Ukraine" during its war with Russia "through both diplomatic efforts and humanitarian aid."
"That was a good conversation," he said.
Kumoch told the media that, thanks to a series of face-to-face meetings with top Ukrainian politicians, Polish officials were "among the best informed about what is happening in Ukraine."
During his visit to the Polish capital, Ukraine's Kuleba a day earlier met with Poland's Prime Minister Mateusz Morawiecki and parliamentary Speakers Elżbieta Witek and Tomasz Grodzki.
Meanwhile, on Saturday, Kuleba and Ukrainian Defence Minister Oleksii Reznikov held bilateral talks in Warsaw with US Secretary of State Antony Blinken and Defense Secretary Lloyd Austin, according to officials.
US President Joe Biden "dropped in" on that meeting while in the Polish capital at the time, reporters were told.
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Source: IAR, PAP
Click on the audio player above for a report by Radio Poland's Michał Owczarek.