Bolivia and the United States agreed Monday to restore full diplomatic ties three years after the Andean nation's leftist government expelled the U.S. ambassador and the Drug Enforcement Administration for allegedly inciting the opposition.

The two nations signed a joint framework agreement in Washington that a U.S. official familiar with the document said seeks both to mend frayed relations and return ambassadors to the respective capitals as soon as possible.

The agreement's "objectives include strengthening and deepening" relations, according to a joint statement by the governments, including "supporting cooperative and effective action against illicit narcotics production and trafficking."

The document does not touch on whether U.S. drug agents can return to the world's No. 3 cocaine-producing nation, the U.S. official said. But it does mention that ongoing U.S. cooperation will include assistance by the U.S. Agency for International Development, said the official, who spoke on condition of anonymity because of the subject's sensitivity.

Bolivian President Evo Morales has on various occasions, though without providing proof, accused USAID of inciting lowlands indigenous groups who have opposed some of his development plans.

The joint statement said the agreement was signed in Washington, D.C., by Bolivian Deputy Foreign Minister Juan Carlos Alurralde and U.S. Undersecretary for Global Affairs Maria Otero.

Under the pact, an umbrella commission will be created to ensure it is carried out.

The U.S. official said it stresses three areas of cooperation: counternarcotics, trade and development assistance.