Saudi Arabia has told the UN General Assembly that it seeks good relations with Iran, just days after Riyadh accused Tehran of arming opposition groups in Yemen.

Saudi Crown Prince Mohammed bin Nayef said both countries should base relations on being "good neighbors" that do not interfere in others' internal affairs. However, on Sunday, Saudi Arabia claimed that Iran has been supplying Shiite rebels in Yemen, and urged the UN to impose sanctions on Tehran.

Iran rejected the allegations, saying they were "unfounded and undocumented." Saudi Arabia leads a coalition that has been bombing Houthi rebels in Yemen. Iran supports the Houthis that control the capital, Sana'a.