The First Minister of Scotland and the president of Ireland discussed the “importance of self-determination” during their meeting in Edinburgh.
Catherine Connolly also told reporters in Glasgow on Thursday that it is “for the people of Scotland to determine their future” when it comes to independence.
Ms Connolly visited Scotland’s biggest city on the second day of her four-day official visit to the country.
She met Mr Swinney on Wednesday, days after the SNP leader signed an agreement with the leaders of Sinn Féin and Plaid Cymru aimed at pressuring the UK Government into allowing independence referendums – something it has repeatedly refused to do.
During a press conference in Glasgow on Thursday, Ms Connolly was asked whether she agreed with Irish Taoiseach Micheál Martin that Sinn Féin may have “set back unity” with the Republic of Ireland by aligning itself with nationalist leaders in Wales and Scotland.
“I think we need a dialogue”, Ms Connolly said. “We need to listen to each other.”
She said she had had an “interesting” and wide-ranging meeting with Mr Swinney, in which they discussed “the importance of self-determination and why that was so important”.
She said she also spoke with Mr Swinney and his ministers about energy during the “very worthwhile” and “engaging” meeting.
Asked if she supports the SNP’s push for Scottish independence, Ms Connolly said: “I clearly support my constitution in relation to the north, and obviously it’s for the people of Scotland to determine their future, and I wish them the best in that.”
Earlier this week, Mr Swinney described his meeting with the leaders of Wales and Northern Ireland, who all believe in independence, as a “historic moment”, saying: “We’ve never had a moment like this. That changes, fundamentally, the United Kingdom.”
Asked about the Taoiseach’s comments that Sinn Féin may set back the cause of Irish unity by aligning itself with Scottish and Welsh pro-independence parties, Mr Swinney said: “The fundamental point is that it’s the principle of self-determination that the people of North of Ireland, or Wales, or Scotland have got to have the right to decide their own future, and that’s the principle that I want to make sure is central to this debate.”
Ms Connolly met the King on Wednesday evening during a private event at Dumfries House in East Ayrshire.