North Korea launched two short-range missiles into the sea between the Korean Peninsula and Japan on Monday as the annual U.S.-South Korea joint military exercises began. The missiles were launched from the western city of Nampo and were believed to be Scud Cs or Scud Ds, according to the South Korean military. The joint military drills, known as the Key Resolve and Foal Eagle, involve thousands of troops and provoke tensions with North Korea each year. South Korean Defense Minister Kim Min-seok said military would respond to any aggression. “If North Korea takes provocative actions, our military will react firmly and strongly so North Korea will regret it in its bones,” Kim said.