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SEOUL, South Korea — U.S. Army and South Korean military personnel conducted a joint exercise to counteract North Korea’s “destabilizing and unlawful actions,” a statement from the U.S. Army said.

The exercise used the Army Tactical Missile System and the Republic of Korea Hyunmoo Missile II, which fired missiles into territorial waters of South Korea along the East Coast, according to the U.S. Army statement.

The action comes after North Korea claimed to have conducted its first successful test of a long-range missile that it says can “reach anywhere in the world.”

The Tuesday morning missile test reached a height of 1,741 miles, according to state broadcaster Korea Central Television, which would be the highest altitude a North Korean missile had ever reached.

The country claimed it was an intercontinental ballistic missile that would put the United States on notice that Pyongyang could potentially hit the U.S. mainland.

U.S. military analysts believe it probably was a two-stage ICBM, said a U.S. official with knowledge of the Americans’ analysis.

On Tuesday, Nikki Haley, the U.S. ambassador to the United Nations, told Chinese Ambassador Liu Jieyi, president of the U.N. Security Council, that she wants an emergency session on North Korea, according to Haley spokesman Jonathan Wachtel.

The emergency session will convene Wednesday afternoon, Wachtel wrote.

U.N. Secretary-General Antonio Guterres strongly condemned the missile test.

“This action is yet another brazen violation of Security Council resolutions and constitutes a dangerous escalation of the situation,” Guterres said through his spokesman Stephane Dujarric.

“The DPRK leadership must cease further provocative actions and comply fully with its international obligations.”