"Lima Group… decides to make the necessary arrangements for Cuba to participate in the search for a solution to the crisis in Venezuela," the declaration says.
The group also reiterated its call on Russia, Turkey and other countries that support Venezuelan President Nicolas Maduro to "promote a return to democracy in the country."
The Lima Group also invited the International Contact Group on Venezuela to convene a meeting with all parties to find a solution.
Venezuela has been rocked by unrest since January, when opposition leader Juan Guaido proclaimed himself an interim president and was recognized by the United States and 54 other nations.
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Maduro, recognized by China and Russia among numerous other countries, has accused the United States of seeking to overthrow his government and install Guaido in a bid to get hold of Venezuela’s resources.