Heading a high-ranking delegation, Zarif left Tehran for Sulaymaniyah on Friday to participate in the funeral service for the late secretary-general of the Patriotic Union of Kurdistan (PUK).
In a message on Wednesday, Zarif had voiced condolences to all Iraqi people and government over the demise of Talabani.
The Iranian top diplomat described Talabani as one of "the most influential, prominent and benevolent figures" in Iraq who devoted his life for freedom and independence of its country.
The Kurdish leader and former president of Iraq died at the age of 84 on Tuesday.
Talabani stepped down as president in 2014, after a long period of treatment following a stroke in 2012.
Talabani was born near Erbil in 1933. He was the first non-Arab president of Iraq, elected in 2005, two years after the US-led invasion against the Arab country in 2003.