"We call on all parties to refrain from provoking and threatening each other, whether in words or actions, and not to let the situation get to an irreversible and unmanageable stage", Wang said, according to official news agency Xinhua.
Trump has ordered a navy strike group flagshipped by a nuclear-powered aircraft carrier to head to the region as a show of force as his officials assess tougher economic sanctions as well as military options against the North.
The parade came amid growing worldwide worries that North Korea may be preparing for its sixth nuclear test or a major missile launch, such as its first flight test of an ICBM capable of reaching US shores.
The official, who wasn't authorised to be quoted by name and demanded anonymity, lamented Pyongyang's "far too common and far too dangerous" provocations, and said Washington would work with worldwide partners to cut the North's government off "from the rest of the world".
North Korea showed two new kinds of ICBM enclosed in canister launchers mounted on the back of trucks, suggesting Pyongyang was working towards a "new concept" of ICBM, said Melissa Hanham, a senior research associate at the US-based Middlebury Institute of International Studies at Monterey.
Under his watch, North Korea has aggressively pursued a goal of putting a nuclear warhead on an ICBM capable of reaching the continental United States.
Earlier this week USA intelligence officials told NBC News the military was ready for a preemptive strike on North Korea if a nuclear test looks imminent.
The weekend is just getting underway in the US, but already I have to say it was a good day.
"They're paranoid and liable to do something stupid", said retired U.S. Army Colonel Jack Jacobs. A second USA official said the launch was land-based. Pence likely wouldn't make the trip if any belligerent actions were pending.More news: United Airlines adds insult to injury for beaten passenger
The failed launch was at 7.21am AEST.
In Dandong, China's main border post with North Korea, hundreds of North Koreans gathered at a cultural center carrying floral displays.
The larger missile was similar in appearance to the Chinese DF-41, which can fly 9,000 miles. China is North Korea's only major ally and trading partner. North Korean then fired the missile at a lofted angle for testing purposes.
"The president and his military team are aware of North Korea's most recent unsuccessful missile launch, a statement from US Secretary of Defence Jim Mattis read".
Sinpo, where the Sunday launch took place, is the site of a North Korean submarine base and where the North has tested the submarine-launched ballistic missile it is developing.
"He is doing the wrong thing", he said of Mr Kim.
A total of 56 missiles of 10 types were displayed, culminating in enormous rockets on articulated trailers and on 16-wheel vehicles.
April 15 marks the birthday of the first leader of North Korea, Kim Il Sung, who reigned for 46 years, and is also Kim Jung Un's grandfather.
Analysts warn that even failed missile launches provide valuable knowledge to North Korea as it tries to build its weapons program. In a moment we'll hear more about North Korea's weapons capabilities.