Mr Lapid was greeted at Manama’s airport by his Bahraini counterpart, Abdul Latif bin Rashid Al Zayani, who visited Israel last November.
He then met King Hamad and reportedly discussed economic and security issues, including Iran, which both countries regard as a serious threat.
“His Majesty’s leadership and inspiration have led to true co-operation and our meeting outlined the path forward for our relationship,” Mr Lapid tweeted.