Mr Youssouf stressed the need for effective implementation of the agreements reached during the meeting.
Bukavu, the capital of South Kivu province, is home to hundreds of thousands.
Mr Lacroix made the call while briefing the UN Security Council on Monday at UN headquarters in New York.
According to the UN, the challenges include expanding conflicts in high-population areas, expansion of transnational organised crime and violent extremism.
A peacekeeper from Burkina Faso serving in Mali, Alizeta Kinda, has been honoured for her work to boost trust between the authorities and local communities.
Mr Lacroix told the UN Security Council on Friday that the situation in the Lake Chad Basin region remained highly volatile.
