The US and South Korean militaries completed a joint exercise on Thursday, but remain vigilant after North Korea launched two ballistic missiles the previous day.

The Ulchi Freedom Shield exercise began in South Korea on August 21.

The regular joint exercise featured drills to deal with emergencies on the Korean Peninsula. They involved 38 field training events, more than double the figure for last year.

A video was released on Thursday that shows about 450 South Korean vehicles, including tanks and self-propelled howitzers, taking part in shelling drills.

The US and South Korean air forces conducted a joint exercise on Wednesday involving US B-1 bombers. North Korea is on high alert for these aircraft.

Later on Wednesday, the North fired two short-range ballistic missiles toward the Sea of Japan. Pyongyang said on Thursday morning that the firing was in response to the US-South Korean air force drills.

Although the joint exercises have ended, the US and South Korean militaries will maintain vigilance for possible hostile moves by North Korea in view of its increasingly confrontational stance against the two countries.