ABC News

Sen. John McCain endorsed U.S. talks with the Taliban this morning on "This Week," setting himself at odds with Mitt Romney, who he is backing for the GOP presidential nomination.

"I think it's important to have talks wherever you can," said McCain, R-Ariz., speaking from Afghanistan. " We have to have an outcome on the battlefield…that would motivate a successful conclusion."

During a recent presidential debate, Mitt Romney said "The right course for America is not to negotiate with the Taliban while the Taliban are killing our soldiers. The right course is to recognize they're the enemy of the United States."

Afghan president Hamid Karzai confirmed for the first time this week that peace settlement talks between the U.S., Afghanistan, and the Taliban have begun.

McCain, who also said he is for a long-term American presence in Afghanistan, said he has not "had a conversation" with Romney about this issue. McCain, added the former Massachusetts governor had a "realistic" approach.