Beijing claims almost the entire South China Sea but the Philippines, Vietnam and several other nations claim various islands, islets, reefs and shoals in the crucial strategic waterway.
In a January visit to Vietnam by Philippine President Ferdinand Marcos, the two countries agreed to boost coastguard cooperation in the South China Sea and "peacefully solve incidents at sea".
The 2,400-ton CSB 8002 vessel left Vietnamese waters Wednesday for a trip that has "profound political significance", Vietnam's defence ministry said in a statement.
The visit was an opportunity for both coast guard forces to "promote comprehensive cooperation (and) improve law enforcement ability at sea... to contribute to the maintenance of peace, stability, security and safety in the relevant sea area and in the region."
The two will carry out joint drills on search and rescue, fire prevention and fighting at sea, the statement said Wednesday.
In mid-July, Vietnam filed a claim with the United Nations for an extended continental shelf beyond the current 200 nautical miles in the South China Sea, the country's foreign ministry said.
The Philippines made a similar move a month before.
China said it firmly opposed Vietnam's submission and had lodged stern representations with the Vietnamese side.
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