In the first high-level meeting between US and Israeli officials since relations soured when Israel annexed the Golan Heights, US Sen. Charles H. Percy (R) of Illinois held ''very friendly'' talks with Foreign Minister Yitzhak Shamir Monday. Percy is chairman of the Senate Foreign Relations Committee.
Percy was scheduled to meet with Prime Minister Menachem Begin and Defense Minister Ariel Sharon after a helicopter tour of northern Israel. He was to meet former Defense Minister Ezer Weizman and opposition Labor Party leader Shimon Peres later Monday. Percy is on a Middle East fact-finding mission.