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Zimbabwean President Robert Mugabe, Swaziland's King Mswati III and Tanzania's Jakaya Kikwete were among the handful of regional leaders at the summit.
"We believe that peace will be achieved if all parties to the conflict are committed to the process," said Zuma in opening remarks.
"It is crucial that there be an inclusive political dialogue, where all the relevant parties and stakeholders have an opportunity to be part of finding a resolution."
The heads of state summit resumed after foreign ministers were locked in afternoon talks to deliberate on reports delivered by SADC's special envoy to Madagascar and the bloc's ministerial troika.
Madagascar, which was suspended from the bloc in March, has no official representation but fallen leader Ravalomanana, who has been lobbying regional leaders to support his return to power, is at the summit venue.
Ravalomanana had met some of the summit participants informally, but had not yet been called upon to officially address heads of state, sources said.
Opposition leader Andry Rajoelina, who seized power with the army's blessing on the vast Indian Ocean island three months ago, was not invited.
The bloc announced the summit on Thursday, taking up the baton when mediation efforts by the African Union and United Nations were suspended this week.
Those talks were launched on April 8 between Rajoelina's transitional authority and supporters of Ravalomanana, who is still recognised by the international community as the country's lawful leader.
But the mediation was suspended on Tuesday, with no new date fixed.
Ravalomanana has suggested that all options, including military action, be considered, to restore order to Madagascar.
United Nations envoy Tiebile Drame told AFP on Saturday that the UN wanted SADC to invite Ravalomanana to cooperate more actively with the political process.
The UN also expected the bloc to invite all parties to the crisis to cooperate with negotiations, he said.
"The only solution is the political one," he said.
"We met Ravalomanana this morning to stress the point that a negotiated solution is the way forward."
Earlier this month another African grouping, the Common Market for Eastern and Southern Africa, backed Ravalomanana's call to consider military options.
That's something SADC has shown little appetite for, with South Africa's Foreign Minister Maite Nkoana-Mashabane on Thursday reiterating the bloc's commitment to political talks to end the impasse.
"We believe there is no other solution for Madagascar except for a political solution and we think that can only be found through this process and hence us hosting the extra-ordinary summit," she said.
"Having said that, we cannot stand by as the chair of SADC and watch the country falling apart," she added. "The information we are getting from Madagascar is that all is not well on the ground."
The 35-year-old Rajoelina seized power with the army's blessing and support on March 17. He promised elections for 2010 but is constitutionally five years too young to run for president.
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"We believe that peace will be achieved if all parties to the conflict are committed to the process," said Zuma in opening remarks.
"It is crucial that there be an inclusive political dialogue, where all the relevant parties and stakeholders have an opportunity to be part of finding a resolution."
The heads of state summit resumed after foreign ministers were locked in afternoon talks to deliberate on reports delivered by SADC's special envoy to Madagascar and the bloc's ministerial troika.
Madagascar, which was suspended from the bloc in March, has no official representation but fallen leader Ravalomanana, who has been lobbying regional leaders to support his return to power, is at the summit venue.
Ravalomanana had met some of the summit participants informally, but had not yet been called upon to officially address heads of state, sources said.
Opposition leader Andry Rajoelina, who seized power with the army's blessing on the vast Indian Ocean island three months ago, was not invited.
The bloc announced the summit on Thursday, taking up the baton when mediation efforts by the African Union and United Nations were suspended this week.
Those talks were launched on April 8 between Rajoelina's transitional authority and supporters of Ravalomanana, who is still recognised by the international community as the country's lawful leader.
But the mediation was suspended on Tuesday, with no new date fixed.
Ravalomanana has suggested that all options, including military action, be considered, to restore order to Madagascar.
United Nations envoy Tiebile Drame told AFP on Saturday that the UN wanted SADC to invite Ravalomanana to cooperate more actively with the political process.
The UN also expected the bloc to invite all parties to the crisis to cooperate with negotiations, he said.
"The only solution is the political one," he said.
"We met Ravalomanana this morning to stress the point that a negotiated solution is the way forward."
Earlier this month another African grouping, the Common Market for Eastern and Southern Africa, backed Ravalomanana's call to consider military options.
That's something SADC has shown little appetite for, with South Africa's Foreign Minister Maite Nkoana-Mashabane on Thursday reiterating the bloc's commitment to political talks to end the impasse.
"We believe there is no other solution for Madagascar except for a political solution and we think that can only be found through this process and hence us hosting the extra-ordinary summit," she said.
"Having said that, we cannot stand by as the chair of SADC and watch the country falling apart," she added. "The information we are getting from Madagascar is that all is not well on the ground."
The 35-year-old Rajoelina seized power with the army's blessing and support on March 17. He promised elections for 2010 but is constitutionally five years too young to run for president.
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