On Thursday, Mexico's foreign ministry said the government was assisting members of the caravan who had already crossed into Mexican territory. Some hope to eventually enter the United States to escape violence and poverty.
According to the State Department, Pompeo's visit Friday will focus on the USMCA, immigration and the transition from the Peña Nieto administration to the incoming Andrés Manuel López Obrador administration.
"I think it's important that we address development and I think that we're trying to do so with the United States", he said.
Manelich Castilla, the Mexican federal police chief, told Foro TV that his forces successfully prevented a violent breach by the migrants.
Mexico's Foreign Ministry said in a statement that it needs the United Nations body's help to manage all the refugee applications.
In recent days Mexican authorities have made a point of showing they were stepping up security near the country's southern border.
"It's not in the interest of anybody to have those people make that trip", Gerónimo Gutiérrez, the Mexican ambassador to the USA, told Fox News, noting that "they're frequently tricked by human smuggling organizations".
The migrant caravan is heading north as the USA mid-term elections approach, and Donald Trump lost no opportunity to comment as he addressed a rally of supporters in Montana.
But foreign minister Videgaray said that was "false" and that no such deal had been made.
Mexico's southern border is notoriously porous and it was unclear how numerous migrants would attempt to cross legally at the bridge. Why don't they stop these people before they get to Mexico? The nearest border is about 110 miles (177 km) away.
One of the migrants, Juan Escobar, 24, said he had heard about Trump's comments but said they would not dissuade the migrants from continuing their journey.
Migrants in a caravan travelling through Central America have broken down gates at a border crossing and are streaming toward a bridge to Mexico.
With less than three weeks before the November 6 midterm elections, Trump seized on the migrant caravan to make border security a political issue and energise his Republican base. Later, he retweeted a video of Mexican federal police arriving at the Guatemalan border and wrote: "Thank you Mexico, we look forward to working with you!"
Dozens of police in riot gear were deployed along the river bank in the town of Ciudad Hidalgo on Mexico's border with Guatemala as hundreds of migrants prepared to cross over from the Guatemalan town of Tecun Uman on the other side.
He claimed on Thursday that Democrats are backing the human movement to bolster their case for "open borders and existing weak laws".