It was the first time North Korea had shown the missiles, which have a range of more than 1,000 kilometres, at a military parade.
North Korea has reportedly launched a missile on its east coast which has failed.
United States aircraft carrier Carl Vinson, surrounded by a fleet of USA warships, was sent toward the Korean Peninsula in advance of this weekend's festivities in Pyongyang.
North Korea's leadership has warned the United States it is "ready to hit back with nuclear attacks" if provoked. The minister said there was a "vicious cycle" happening on the Korean Peninsula, and that Pyongyang wouldn't countenance a preemptive strike from Washington.
But on Thursday amid much hype and secrecy, the North Korean leader surprised the press by showcasing a new skyscraper-lined street in Pyongyang.
But South Korean analysts said Kim decided not to conduct the nuclear test, instead holding a parade meant to show off North Korea's military might.
The United States has warned that a policy of "strategic patience" with North Korea is over.
As Tokyo communicated its protest to Pyongyang through a diplomatic channel in Beijing, a Japanese government source said North Korea's "repeated provocative moves are unacceptable".
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The attempted launch came one day after North Korea showed off new missiles at a two-hour military parade on the 105th birthday of the country's founder, Kim Il Sung, the grandfather of North Korea's present leader. If they are unable to do so, the USA, with its allies, will!
North Korean soldiers are facing the death penalty after spreading a joke comparing Kim Jong-un to a kindergartner.
"We will respond to an all-out war with an all-out war and a nuclear war with our style of a nuclear attack", Choe said.
Following the huge bomb dropped by the United States in Afghanistan, China's Global Times - the Communist Party's official newspaper - said North Korea must have felt the shockwaves.
"As long as the nuclear threats and blackmail go on with the military exercises, we will carry forward with our national defense buildup, the core of which is the nuclear arms buildup", Han said.
Mike Pence, the USA vice-president, is due to arrive in South Korea on Sunday carrying a range of military options for tackling North Korea's increasing belligerence.
Meanwhile, North Korea's staunchest ally, China, is freaking out. The country's Foreign Minister Wang Yi said, "We call on all parties to refrain from provoking and threatening each other, whether in words or actions".
American intelligence officials have reportedly said the U.S. is ready to launch a preemptive strike with conventional weapons against North Korea if it is sure Pyongyang is about to stage another nuclear weapons test.
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