The two forces are on night patrol in the country's disputed territories after a drone attack on Erbil airport last weekend, security officials have said.
Two explosives-laden drones were used to attack the airport, which is home to an airbase for the US-led international coalition.
Saturday night's attack prompted lawmakers to call for increased cooperation between Baghdad and Erbil.
A joint patrol operated all day, but their activities increase at night, one military official told The New Arab's Arabic language sister site Al-Araby Al-Jadeed.
Ayoub Al-Rubaie, a member of the Iraqi parliament's security committee, said: "A joint intelligence room was formed between Baghdad and Erbil, represented by the army and the Peshmerga, to track down wanted persons and dismantle the sleeper cells of extremist groups."
This was formed "in light of the current security challenges in Iraq", Al-Rubaie said.
Control of parts of northern and western Iraq are disputed between the federal Iraqi government and Iraqi Kurdistan authority.
The dispute has meant a lack of security coordination in these areas.
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