The modified Freedom Shield exercise, which combines computer simulations and field training and runs through March 20, still drew the condemnation of nuclear-armed North Korea.

SEOUL, South Korea (AP) — North Korea fired several ballistic missiles into the sea Monday, South Korea’s military said, hours after South Korean and U.S. troops kicked off their large annual combined drills, which the North views as an invasion rehearsal.

North Korea on Monday condemned joint U.S.-South Korean military drills as a "provocative act," warning of the danger of sparking war with "an accidental single shot," days after Seoul's air force mistakenly bombed a village on its own territory.

North Korea condemned an upcoming U.S.-South Korea joint military exercise Friday, saying that "counteraction is inevitable" and warning that the allies would "pay dearly."

South Korea's suspension of some military drills after its fighter jets' accidental bombing of a civilian area may hinder its upcoming annual military training with the United States.

South Korea’s military says it has suspended the training flights of air force aircraft and all live-fire drills after two fighter jets accidentally bombed a civilian area