North Korea launched several ballistic missiles toward the Yellow Sea on Monday afternoon, Seoul's military said, on the first day of a large-scale joint U.S-South Korea military exercise on the Peninsula.

North Korea fired several ballistic missiles into the sea Monday, South Korea’s military said, hours after South Korean and U.S. troops kicked off their large annual combined drills, which the North views as an invasion rehearsal.

South Korea and the United States have begun their annual joint military exercises, but they paused live-fire training while Seoul investigates how two of its fighter jets mistakenly bombed a civilian