He said the alliance between South Korea and the US is "iron-clad" and reiterated that "all options are on the table" to pressure North Korea to get rid of its nuclear weapons and missile program.
Pence is visiting the military base near the DMZ, Camp Bonifas, for a briefing with military leaders and to meet with American troops stationed there.
His 10-day tour of Asia comes as tensions grow in the wake of North Korea's latest missile test.
Pence is warning in a visit to the Demilitarised Zone dividing North and South Korea that the North Korean people and military "should not mistake the resolve of the United States of America to stand with our allies."
The joint US-South Korean military camp is just outside the 2.5-mile-wide DMZ.
Pence's visit, full of Cold War symbolism, comes amid increasing tensions and heated rhetoric on the Korean Peninsula.
Pence has called North Korea's failed missile launch a "provocation," and President Donald Trump tweeted Sunday that China is working with the US on the "North Korea problem."
Pence is telling American and South Korea service members that the North's latest "provocation," a failed missile launch shortly before his arrival in Seoul, has laid bare the risks they face.
While the North did not conduct a nuclear test, the spectre of a potential escalated US response is trailing Pence as he undertakes a 10-day trip to Asia amid increasing tensions and heated rhetoric.
Trump's national security adviser, H.R. McMaster, is citing Trump's recent decision to order missile strikes in Syria after a chemical attack blamed on the Assad government as a sign that the president "is clearly comfortable making tough decisions."