Manmohan Singh expressed his appreciation for the warmth of his reception and the hospitality extended by the Chinese government, said a joint statement issued after his talks with the Chinese leaders.
Manmohan Singh invited Premier Li to visit India at a time of mutual convenience, the joint statement said.
"I am delighted to be in Beijing once again at the invitation of Premier Li. I am touched by the warm welcome and the generous hospitality of the government and the people of China.
"I recalled to Premier Li how much India appreciated his decision to make India his first overseas destination after taking over as Premier," Singh told reporters after his meeting with Li earlier in the day.
The exchange of visits by the prime ministers within the same calendar year was the first since 1954.
Li had visited India in May.