Mr Rajoy, who received Mr Tusk at the Palacio de la Moncloa in Madrid, told the European chief the impact of Britain’s withdrawal from the bloc on both citizens and companies should be “minimised”, Spanish website El Diario reported.
The agenda set by the two leaders included discussions related to trade relations, the fight against terrorism and foreign policy.
Mr Rajoy wrote on Twitter: “Receiving the @eucopresident in La Moncloa to prepare the next European Council.
“Spain, in favour of greater integration, employment and well-being. #EUCO.”
European leaders, who will meet in the upcoming summit held in Brussels on 22-23 March, will also discuss the conditions of the transition period.
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Mr Rajoy and Mr Tusk also analysed other issues concerning trading, including the announcement by US President Donald Trump to impose tariffs on steel and aluminium.
The Spanish prime minister stressed that the European Union is a “successful project and a future of opportunities” before thanking Mr Tusk for his visit.
Mr Tusk took to Twitter to comment the outcome of the meeting.
He wrote: “Excellent meeting with the President Mariano Rajoy in Madrid with a view to the EUCO meeting next week.”
The bilateral discussion coincided with the announcement that Mr Rajoy may boycott the summit that the EU plans to hold on 17 May in Sofia with Western Balkan countries if Kosovo President Hashim Thaci will attend it.
Doubts about the presence of Spain at the summit, which aims at supporting the path for accession of Balkans to the EU, increased after government spokesman Íñigo Méndez de Vigo said that Madrid wanted to learn more about the meeting before taking a decision on its attendance.
Spain is one of the five European countries who don’t recognise Kosovo’s independence together with Slovakia, Romania, Greece, and Cyprus.
Neither the Spanish Government nor the European Council reported so far on whether this issue was addressed at today’s meeting.